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While URDF does not support non-tree kinematic structures at this point, gazebo can handle closed chain loop dynamics. Maybe as a first order hack for simulating the Delta Robot, you can leave some joints out of the URDF, keeping the URDF representation in a tree structure, but in addition implement the loop closing joints in gazebo only. As an example, I did this for the PR2 gripper, where some of the joints in simulation are not modeled in the corresponding URDF. Is this is a feasible approach for your model?

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