URDF model

[fjp]

Create a more realistic URDF model of the robot for Gazebo.

Possible workflow: Use Blender, Freecad or Google SketchUp to model the robot and convert the output to a suitable format for the URDF using MeshLab.

[fjp]

Basic URDF model with meshes created using CAD models from grabcad. Editing was done with

• grabcad workbench: convert from any available format to stl, which can be used in URDF and viewed in the browser on GitHub.
• Onshape: split grouped parts into its individual components
• blender: used to change scaling of some parts (some were wrong by a factor of 100, probably mixed meter with mm), change orientation and location (x,y,z) to simplify URDF origin and axis tags (keep all values at zero in URDF description).