This PR updates some of the overly detailed STLs with downsampled ones:
Base_link: 10 MB -> 1.8MB
Link_dry_erase_holder: 1.2 MB -> 261kB
Link_head_tilt: 1 MB -> 488 kB
Link_puller: 1.2 MB -> 423 kB
Link_respeaker: 1.2 MB -> 212 kB
Link_straight_gripper: 5.3 MB -> 300 kB
Link_wrist_pitch: 1.1 MB -> 643 kB
Omni_wheel_m: 2.7 MB -> 300 kB
This is necessary because large mesh files can result in issues like:
crashes in packages like MoveIt that use meshes for collision detection
long loading times for visualizations on tools like RViz
low Real Time Factor (RTF) in simulation software like Gazebo
The reduction in mesh complexity was achieved by resampling the meshes and removing extraneous elements using a software called MeshLab which is available to download for Ubuntu.
While the software is straightforward to use, we must be careful to not include extraneous links while exporting them from Solidworks. For ex: the base link STL also contained the NUC and simply removing it reduced the file size considerably.
This PR updates some of the overly detailed STLs with downsampled ones:
This is necessary because large mesh files can result in issues like:
The reduction in mesh complexity was achieved by resampling the meshes and removing extraneous elements using a software called MeshLab which is available to download for Ubuntu.
While the software is straightforward to use, we must be careful to not include extraneous links while exporting them from Solidworks. For ex: the base link STL also contained the NUC and simply removing it reduced the file size considerably.