Fix sda10f urdf

[asierfernandez]

We propose a more accurate urdf for sda10f robot. Updated dimensions have been extracted from 3D CAD model as described in #232

[gavanderhoorn]

@asierfernandez: CI seems to fail for motoman_sda10f_support with the proposed change.

Can you check locally?

[asierfernandez]

@asierfernandez: CI seems to fail for motoman_sda10f_support with the proposed change.

Can you check locally?

@asierfernandez: CI seems to fail for motoman_sda10f_support with the proposed change.

Can you check locally?

I'll check it next week

[gavanderhoorn]

Looks like the joint_limited param was the problem.

[gavanderhoorn]

Getting back to this: the urdf is fixed, but the origins of the meshes are not updated in this PR, which leads to rendering issues (and potential problems with MoveIt's collision detection/avoidance).

Not asking @asierfernandez to fix that after all this time, just making a note about this here.

Example:

[asierfernandez]

We didn't pay attention to meshes, because we were only interested on solving properly the IK.
Meshes should also be updated, but unfortunately we won't work on that in the next months.
@gavanderhoorn thanks for the comment!

[gavanderhoorn]

Just to make sure we don't accidentally merge this in, I'm going to submit a review with request changes.

Thanks for the additional info @asierfernandez.

[gavanderhoorn]

Mesh origins would need to be updated as well.

[gavanderhoorn]

We now have #321, which I believe will address the issues raised here as well.

Thanks @asierfernandez for the initial PR 👍