A number of discs have been added to the helix_arm.xacro URDF that can be used to visualise the state of the arm, representing discrete slices along its length. The discs are just floating links, so it is necessary to set their transforms directly in order to create the desired state (ie there is no connection between the state of the discs and the state of the tendons).
There are 3 'end' discs (seg<1/2/3>_end_link), intended to be located at the end of each arm segment (where the tendons attach). There are 3 additional discs intended to be placed along the first arm segment (seg1_mid_link_<a/b/c>), and 7 in each of the other segments as they are twice as long (extending to _link_g).
A number of discs have been added to the
helix_arm.xacroURDF that can be used to visualise the state of the arm, representing discrete slices along its length. The discs are just floating links, so it is necessary to set their transforms directly in order to create the desired state (ie there is no connection between the state of the discs and the state of the tendons).There are 3 'end' discs (
seg<1/2/3>_end_link), intended to be located at the end of each arm segment (where the tendons attach). There are 3 additional discs intended to be placed along the first arm segment (seg1_mid_link_<a/b/c>), and 7 in each of the other segments as they are twice as long (extending to_link_g).