[JesseK]

What is the ground clearance between the lowest point on the robot and the ground?

Ours was ~3" until we realized we had to protect the WCP transmissions since they stick down ~0.75" below our frame rail. We added 'skid rails' made of thick-wall 1x1 aluminum tubing. This removed the need for a separate belly pan/protective layer.

We have some more profiling to do with them to help with the ramparts, but otherwise the skid bars help us with the moat and rockwall with simple 45-degree chamfers on either end.