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
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