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How create spherical robot model (hollow sphere)?

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

Asked by Hadi Kazemi on 2014-03-05 11:15:30 UTC

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Answers

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.

Asked by nkoenig on 2014-03-05 14:35:53 UTC

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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.

Asked by Stefan Kohlbrecher on 2014-03-05 14:36:35 UTC

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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.

Asked by scpeters on 2014-03-05 19:12:39 UTC

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