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nepfaff / robot_payload_id

Identifying object inertial properties using a robot arm
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Visualize inertial ellipsoids as part of evaluation #21

Closed nepfaff closed 6 months ago

nepfaff commented 7 months ago

This method should do all the work for us: https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_spatial_inertia.html#aba6d2ff81ae140bb2c4249933a51597c

We would want to compute these with the found parameters and then visualize on top of the robot in different colors. We can visualize them using Drake's ellipsoid: https://drake.mit.edu/doxygen_cxx/classdrake_1_1geometry_1_1_ellipsoid.html

nepfaff commented 6 months ago

Completed with https://github.com/nepfaff/robot_payload_id/commit/e60b67e82817c8c0b3758e342d7d037c042ce13b