Currently, capsules for collision objects or visual objects are not supported by URDF and dealing with them is thus a bit problematic. However, there is some discussion to add them to URDF at some point, and they might at least end up in the successor of URDF.
Also, Blender allows to add them using its Extra Objects add-on, which would have to be activated from within Phobos.
I propose to solve this issue by simply adding capsules as a geometry type and add an operator that allows to transform them into two cylinders and two spheres for URDF compatibility. Object properties such as simulation friction or collision settings etc. would have to be copied to all new objects.
Currently, capsules for collision objects or visual objects are not supported by URDF and dealing with them is thus a bit problematic. However, there is some discussion to add them to URDF at some point, and they might at least end up in the successor of URDF.
Also, Blender allows to add them using its Extra Objects add-on, which would have to be activated from within Phobos.
I propose to solve this issue by simply adding capsules as a geometry type and add an operator that allows to transform them into two cylinders and two spheres for URDF compatibility. Object properties such as simulation friction or collision settings etc. would have to be copied to all new objects.