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How create spherical robot model (hollow sphere)?

asked 2014-03-05 10:15:30 -0500

Hadi Kazemi gravatar image

Hi, Is there hollow sphere in Gazebo? I want to model a spherical robot but I can't find a hollow sphere on Gazebo? How can I model that robot? I left Webots simulator because it did not support hollow sphere. Thanks

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answered 2014-03-05 13:35:53 -0500

nkoenig gravatar image

There is no built-in hollow sphere in Gazebo. You can create such a mesh using a 3D modeling utility like Blender, and then use the mesh as a collision element.

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answered 2014-03-05 13:36:35 -0500

Stefan Kohlbrecher gravatar image

The easiest thing to to would be to just model a sphere in some 3D modeling tool of your choice (for example Blender) and using that model as link geometry for a SDF or URDF model. See Building a Robot with SDF and Building a Visual Robot Model with URDF from Scratch.

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answered 2014-03-05 18:12:39 -0500

scpeters gravatar image

A workaround would be to use a normal sphere and to put links and joints inside that do not have collision shapes. You can still put momentum wheels inside if you're not concerned about internal collisions.

You can also use meshes.

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Asked: 2014-03-05 10:15:30 -0500

Seen: 1,088 times

Last updated: Mar 05 '14