This is the problem with cross-posting. We now have two divergent versions of this question. The additional detail here doesn't seem to have helped it gain any answers, while the last of detail over on robotics means that the answers there haven't been improved either!

On stack exchange it's generally better to ask more specific questions and then allow more generalised answers to flow out of them. That's how we handle duplicates. We don't close a question as a duplicate when the question duplicates another question so much as when a question has already been answered by another question.

Hi @SF. if that is part of your system spec, it would be good to edit into your question. I had to make far too many assumptions last night when writing my answer without this information.