Hi Rorry,
Couple of questions, is it important that the robot

   - has the right dynamics behavior,
   - models collisions with objects,
   - looks good in visualization or
   - all of the above?

Is the current robot file written in URDF?
If yes, are you connecting the split up meshes with fixed joints?

John

On Tue, Jan 4, 2011 at 2:42 PM, Rorry Brenner
<rorry.brenner@resquared.com>wrote:

> We are trying to get a good visual for our robot in gazebo.  Because of the
> built in gazebo smoothing we were not able to get our model to look right
> using the meshes we produced.  As a workaround for this we split our meshes
> up into over 100 different files since gazebo does not smooth separate
> meshes together.  The new model we produced looks great.  However it runs
> extremely slow.  We believe this is because of all the collision and physics
> calculations for the new links, but if we do not provide all of these
> additional links with inertial parameters and collision models they are not
> visualized in gazebo.  I was wondering if there is a way to have gazebo
> still produce a visual if the link has no inertial parameters and no
> collision model?
>
> Thanks,
> Rorry
>
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