How can I make joints in urdf file that have two parents and a single child?
Adding a virtual link is not working. urdf file is here
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
Asked by usama1616 on 2020-04-30 05:24:21 UTC
Answers
You cannot have closed chains in a URDF model.
If I understand the model correctly, what I would do in your case is have the pistons as an active joint, and then make the ends of the pistons (top and bottom) mimic joints. You would have to derive the kinematics of the arm, and express the end (mimic) joint states with respect to the piston (active) joint state.
This way you will end up with an open chain which, due to the dependence between the joints, behaves as a closed chain.
Asked by nlamprian on 2020-04-30 11:54:51 UTC
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