sia20: incorrect B-T translation?

[gavanderhoorn]

According to the spec sheet (old link), the translation between joint_b and joint_t should be 208 mm. The motoman_sia20d macro currently has this at 180 mm (here).

This discrepancy of 28 mm is also not fixed-up in the link_t-tool0 transform (which is a zero-transform in the macro).

[gavanderhoorn]

This will cause the transformation between a (to-be-added) base and tool0 frame to be off by the same amount.

[gavanderhoorn]

@shaun-edwards: you introduced the SIA20D support package in d19d6cc, any idea where this might be coming from?

[gavanderhoorn]

Same issue with the SIA10(d|f) (here), and the SIA5D (here, although that gets an additional 11 mm in the link_t-tool0 transform (here), which still doesn't make it correct (134 + 11 == 145 != 148)).

[gavanderhoorn]

@shaun-edwards: were all these support packages created using the SW2URDF plugin perhaps?