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Example of closed kinematic chains in URDF - gazebo

asked 2014-03-06 04:20:50 -0500

Where can I find an example of a closed-kinematic-chained robot description (in URDF) to be simulated in gazebo?

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answered 2015-11-06 13:14:49 -0500

Peter Galambos gravatar image

Closed kinamtic chains can not be described by URDF. You have to 'open up' your structure and take care about the constraints using software code that provides the joint coordinates.

Gazebo supports closed chains through SDF:

http://answers.gazebosim.org/question...

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Asked: 2014-03-06 04:20:50 -0500

Seen: 1,026 times

Last updated: Mar 06 '14