improper joint positioning of industrial robot in moveit! from solidworks
I've attached a few pictures highlighting my problem and what is going on is I setup my axis and co ordinate systems in solidworks according to the guides whereby the axis are along the joints of the robot and the co ordinate systems for each joint is along the axis.
I export my URDF file from solidworks and when I create a moveit! package the joints are all misaligned and the motion is completely off. what I mean is the joints rotate at offset axis and the links are very far from one another. I've already varied the directions of the co ordinates but have seen the same results and I've managed to get the motion close to what it is supposed to be like but even so it's not what the motion should be like on the real robot.
I can't upload the files because I'm a very new member but hopefully one of the members here can still offer some advice.
thanks in advance
Your images aren't visible. Could you upload them to imgur.com and add the links to your question? If you can make your urdf files available, that would also help (dropbox/github/wetransfer).
As to the plugin: have you made it use your coordsys origins before exporting?
Also: if you accept the answer to your previous question, you'll get some karma, which will unlock some of the features on this site.
here is the imgur link to the photos: link text and here is the github link to the URDF: link text
take a look and tell me what you think. Thanks in Advance
I'll take a look. In the meantime, you could perhaps use the recently added M-6iB from the ROS-Industrial Fanuc support packages (here). ARC Mate 100iB and M-6iB are identical as far as I know.