Add IKFast plugin for m1509 #110
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I am not getting it for A0509 and also trying to build own Inverse kinematics solver but that was not helpful. |
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Solves #93 for the m1509 only, should be replicated with other robots.
To be able to generate IKFast, the axes of rotation of the urdf had to be rotated so that they all point in the same direction.