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Modeling a robot using complex shape

asked 2018-05-02 10:49:35 -0600

Psychedelic_Breakfast gravatar image

Hi everybody, I am currently modeling a robot in the Model Editor. It's the model of a real robot which has a quite complex structure made by several metal bars. I have managed to successfully reproduce the structure by using the "box" shape in order to make the bars, and then I have assembled and aligned them by using fixed joints.

However, every single bar is obviously an independent link: i can not move the whole structure or assign the mass to it, but I have to work on every single bar. Is there a way to treat the structure as if all the bars were a unique body?

I have already read all the tutorials, but I stil haven't figured out how to do it.

Thank you very much for the support.

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answered 2018-05-02 12:11:05 -0600

chapulina gravatar image

It sounds like you want all the bars to be separate visuals and collisions within a single link.

On the model editor, you can create and edit the visuals and collisions from the link inspector, but unfortunately there isn't very good support for manipulating them on the 3D scene at the moment.

Another option, since it sounds like you already have your model with separate links, would be to manually edit the SDF file to leave a single <link> tag and move all <visual> and <collision> into it. You'll also need to adjust the <pose> of all visuals and collisions; depending on the case, just copying their parent's <link><pose> should be enough.

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Thank you. It's a hard work since the SDF file is quite large, so I think I'll keep using the model as it is.

Psychedelic_Breakfast gravatar imagePsychedelic_Breakfast ( 2018-05-05 06:04:52 -0600 )edit
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Asked: 2018-05-02 10:49:35 -0600

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Last updated: May 02 '18