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Example of closed kinematic chains in URDF - gazebo

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

Pablo Iñigo Blasco

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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
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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

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Last updated: Mar 06 '14

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Example of closed kinematic chains in URDF - gazebo