New STL Files

In order to cut down on collision calculations in Gazebo, I’ve generated two new sets of SimMechanics/STL files. Both sets are in my masters git repository, in the urdf/ directory.

fixed_frame combines all of the aluminum frame members into a single solid. Since they’re all aluminum, they all have uniform density, so there’s absolutely no reason not to combine them.

all_fixed combines all of the fixed elements on the robot into one. I’m not sure if inertial properties are accurately calculated or if inertial properties are calculated based on mean density. In the latter case, this simulation will be less accurate.

Also, the arm height is still not final.

 

I’ll be redirecting my efforts today toward getting basic autonomous driving working in anticipation of Eric being in town tomorrow to defend his thesis.