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Update MH5: Add Short & Long Variants (based on pull request #380) #518

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Update MH5: Add Short & Long Variants (based on pull request #380) #518

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Commits on Mar 27, 2023

  1. Add MH5 Short & Long Variants

    @acbuynak @cjue
    acbuynak authored and cjue committed Mar 27, 2023
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  2. Increase Collision Mesh Fidelity 

    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.
    @acbuynak @cjue
    acbuynak authored and cjue committed Mar 27, 2023
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  3. Reduced MH5L Visual Mesh Size 

    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.
    @acbuynak @cjue
    acbuynak authored and cjue committed Mar 27, 2023
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  4. Removed Duplicate Meshes 

    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.
    @acbuynak @cjue
    acbuynak authored and cjue committed Mar 27, 2023
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  5. Fix XML Tag Mismatch

    @acbuynak @cjue
    acbuynak authored and cjue committed Mar 27, 2023
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  6. mh5/mh5l: use materials from resources package

    @cjue
    cjue committed Mar 27, 2023
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  7. use joint_state_publisher_gui for testing

    @cjue
    cjue committed Mar 27, 2023
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  8. fix MH5 joint6 offset: 80mm per datasheet and spec 

    see table at ros-industrial#377 (comment)
    @cjue
    cjue committed Mar 27, 2023
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  9. add mh5&mh5l opw config

    @cjue
    cjue committed Mar 27, 2023
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