HC20DTP and HC30PL Update

[EricMarcil]

The HC20 package was updated with the HC20DTP and HC30PL variant. HC20 visual meshes were changed from .stl to .dae format to improve rendering.

[gavanderhoorn]

High-level comment: could you please use multiple commits in future PRs when changing multiple things and adding support for new variants/series?

[EricMarcil]

@gavanderhoorn Yes, I will try do split them up in the future.

[gavanderhoorn]

Marking as requested changes while we discuss my comments.

[cjue]

In our repo we had added (identical) opw configs for HC20 DT and HC20 DTP:

isys-vision@f2f4c61

We also renamed the hc20 files to hc20dt, which you probably don't want to copy:

isys-vision@f10f3e6

[EricMarcil]

@cjue I've added the opw_parameters files based on your files. Can you please double check the one for the hc30pl that I added. I believe that the -90 offset for the 5th joint is the only change required.

[cjue]

@cjue I've added the opw_parameters files based on your files. Can you please double check the one for the hc30pl that I added. I believe that the -90 offset for the 5th joint is the only change required.

MoveIt accepts the opw config for the HC30 PL, I could move the robot and the OPW correctly corresponds to the URDF file.

About the HC30 urdf file:

The B-axis range probably needs to be reviewed to allow more motion, because the L and U axes are working in the same plane

Can you explain that a bit more? Currently the URDF in the PR allows +/-15° for joint_4_r, matching the datasheet, while allowing +/- 180° for joint_5_b, where the datasheet would also dictate +/-15°.

Won't the controller abort any trajectory that moves outside the +/- 15 ° range for J5?

[EricMarcil]

The +/- 15 degrees is relative to the floor.
This is an example where the B-axis is within its 15 degrees limits relative to the floor, but the B-axis position relative to the previous joint is around 217 deg

But you are correct, I'll need to correct the B-axis range. I forgot to account for the 90 deg offset. So the range is -90 to 270.

[EricMarcil]

I've updated the hc30pl based on the limits from the parameter files. So the new values will be correct.

The user will need to insure that the robot flange remains +/- 15 degrees relative to the ground.

I haven't tested in MotoRos but normally the controller will give an alram 4420 SPECIAL SOFTLIMIT [R1: MAX B] at execution time when the robot is commanded to move outside of the 15 deg position.

[cjue]

Sounds reasonable 👍

It's quite confusing that the datasheet differs this much from the URDF and the parameter files without specifying that the +/- 15° constraint is relative to the floor.

[gavanderhoorn]

Thank you @EricMarcil for the updates and thanks @cjue for the additional comments and contributions 👍