Missing robot joints

[AdamSorrel]

Hi uArm people,

There are missing links in the xacro description of the robot. This creates a very odd behavior in the graphical output (see attached picture). One such missing joint is between Link4 and Link5. You can quite clearly see which links are not connected on the picture.

Please add the links or post their coordinates and I can add them myself. So far I wasn't able to get the coordinates myself.

[AdamSorrel]

It would be very useful if you published the CAD model of uArmSwift.

[ypoflyer]

any update about this issue?

[AdamSorrel]

I have eventually created my own model and URDF in SolidWorks. I can share it if you want, but I don't have it on me right now.

[TonyLeheng]

Great, thanks for your sharing, we would like to open a new branch for our developers to edit.

[ypoflyer]

Adam，very grateful！

[AdamSorrel]

Hi @ypoflyer , I am terribly sorry about the delay. I have started a git repository on this address. There are only the links and not the end effector.
I have also removed the extra bars that were not connected.

Since this is aimed for ROS and probably moveit, a closed loop chain (like the one above) is not supported. Geometrically all joint positions are equivalent as though the actuator was in the joint itselt except the last joint, which is on the other hand deterministically linked to the value of the previous joints so you can essentially define it internally.

There was also issue with 'too tight joints', so I have made the shafts and wholes larger to avoid artificial collision detection in that point.

Let me know if you have any issues with the package.

[AdamSorrel]

@TonyLeheng
I am frankly not sure why should anybody be interested. I have been asking questions around here when I needed some answers from you and I was being thoroughly ignored. I mean look at the few questions that have accumulated around this git repository and how many were answered or show any kind of work from your side. The answer is 1 out of 6 if you wondered.
The very fact that you've only started wondering about this now is only proving my point about a complete lack of interest on your behalf.