Create a traingular frame

asked 2019-02-21 09:49:23 -0600

PK gravatar image


I am trying to create a triangular frame where each side is a cylindrical link. Each link is connected to the other two via a joint(like in a triangle). Is it possible to model this in SDF? The joint can be anything for now. I am trying to import this into pybullet for simulation but the simulation dies. Is it because, I have a loop like structure defined in the SDF file? The structure of the frame defined by me is as follows: 3 links- Link A,B and C Joint#1 : parent A, child B Joint#2 : parent B, child C joint#3 : parent C, child A

Is this definition of joints and their corresponding parents and children valid in SDF format? Is there an alternative definition I could use?

Thank you!

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What if you did J1: parent:A child:B; J2: parent:A child:C; J3: parent:B child:C ? Then you would avoid the loop.

kumpakri gravatar imagekumpakri ( 2019-02-22 03:54:17 -0600 )edit

Yes that works! thank you

PK gravatar imagePK ( 2019-02-25 07:40:42 -0600 )edit