[PlayerStage-Gazebo] CoM of rotated boxes

[Armin M. <mue...@in...>]

Hi,

some time ago, I sent a question related to the CoM (Center of Mass) of=20
rotated boxes (See forwarded message below). I haven't got any answer. Is=20
there a solution?

Armin

PS: The example plugin can be found at=20
http://www9.in.tum.de/people/muellear/ExampleModel.tar.gz


=2D---------  Forwarded Message  ----------
Subject: [PlayerStage-Gazebo] CoM of rotated boxes
Date: Friday 26 November 2004 11:22
=46rom: Armin Mueller <mue...@in...>
To: pla...@li...

Hi,

I tried to create a Body with a BoxGeom and the Body Coordinate System in t=
he
lower left corner of my box. If I don't set a relative rotation of the
BoxGeom the CoM is in the middle of the box. But as soon as I try to change
the relative rotation the CoM isn't in the middle of the box, e.g. with a
rotation angle of 110 degrees along the z-axis the CoM is outside of the box
and therefore the box is bouncing.

When I set the rotation with the <rpy> tag in the world file the CoM is
correct. But as I want to combine several boxes with different rotations in
the Body, I have to set the relative rotation in the source code.

I have attached an example plugin and a world file to demonstrate the
behaviour.

How can I solve this problem?

Thanks,
Armin

=2D-

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Armin M=FCller
Technische Universit=E4t M=FCnchen             Tel: +49 89 289 - 17780
Lehrstuhl f=FCr Informatik IX                Fax: +49 89 289 - 17757
Boltzmannstrasse 3          http://www9.in.tum.de/people/muellear/
D-85748 Garching bei M=FCnchen               Arm...@in...