The URDF is still missing a couple of links and a joint. Link_7 is not fully constrained. It is attached to Link_6(End effector) on its one end. While the other end is hanging. I am trying to fix this but I am unable to get the cad file of the missing links. Due to this, I am unable to use the URDF for motion planning in ROS. Please help resolve the issue.
Thanks.