add motoman_hc10dtp_b00_ikfast_plugin #4
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…s or number of joints fixes ros-industrial#326 based on gavanderhoorn@e369ddc
Meshes were simplified using "Quadric Edge Collapse Decimation" method to improve collision planning between L and R links. Attention was made to retain a similar number of faces & verticies as the convex hull had for comparable performance. Previous collision meshes were created using the "Convex Hull" method.
Reduced MH5L "L" and "R" link mesh file sizes from ~2MB to suggested < 1 MB. Mesh files were reduced using "Quadric Edge Collapse Decimation" method with priority to maintaining boundary location and quality of polygons.
Link meshes for the MH5L matching those of the MH5 were removed. Effected URDF references redirected to MH5 meshes. Moved unique "link-s" mesh to dedicated mh5_old_variants directory. Updated changelog to reflect shared meshes.
… hz instead of 40 hz
motoman_driver/src/industrial_robot_client/joint_trajectory_streamer.cpp::MotomanJointTrajectoryStreamer::streamingThread() maybe unused because of override?
…nstant replace_start_pos_tol_ fixes "Trajectory start position doesn't match current robot position (3011)" issues in high velocity&acceleration applications fix constness to allow modification of first trajectory point format for roslint increase replace_start_pos_tol_ to 0.02
…r YRC1000 and micro
…ime further; logging IRC JointTrajectoryStreamer: 5ms streaming sleeps MotomanJointTrajectoryStreamer: 10ms streaming sleeps
Added support for HC10DTP (1-06VXCP10-B0*)
The DTP model was originally set as 'dtp-b10' but it should be 'dtp-b00'. File names and references were corrected to 'dtp-b00'
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This IKfast plugin misses some solutions: