Describe sw_urdf_exporter/hints here.

• Put all parts for each link into one assembly
• Go through and hide all parts that you don't want to see
  • export as a part
• Leave only skins and mating surfaces
• Rearrange the tree according to URDF assembly structure
• Mates
  • Looking for free degrees of freedom
  • Some degrees of freedom are not supported - e.g. if there are too many joints in between
• It infers all the inertial properties
  • will account for these even if the corresponding links are hidden
  • color, mass, COM, Moment of Inertia
  • does joint limits as well
• May have to down-sample the meshes
  • can change individual meshes

  • SolidWorks does not make the meshes coarse enough

  • Need to import the meshes in Blender and downsample