After changing a links Inertial values dynamically, its behavior does not change

Question

Hi,

I am using Gazebo 1.8.0. In a plugin I am changing the Inertial values of some links, even though the values change, their behavior stays the same in the simulation.
Do I have to re-load them somehow?

Here is the code snippet how I set the values:

this->link->GetInertial()->SetInertiaMatrix(new_inertia, new_inertia, new_inertia, 0, 0, 0);

Thanks, Andrei

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Originally posted by AndreiHaidu on Gazebo Answers with karma: 2108 on 2013-05-15

Post score: 0

Answer 1

After calling Link::SetInertiaMatrix, you'll need to call Link::UpdateMass. This is implemented for ODE, but not yet for bullet.

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Originally posted by scpeters with karma: 2861 on 2013-05-16

This answer was ACCEPTED on the original site

Post score: 3