How to write urdf link with two parents for accruate simulation?
Hello, I'm currently building my own robotic arm in my spare time. An illustrated version of the arm can be found in my git repo: https://github.com/NicolayP/jb2a/blob....
As one can see, the arm is composed of two parallel 'sides'. My question is therefor the following: as I have access to every single sdf (illustrated with different colors in the pdf file), I was asking myself, what is the best way to create an associated urdf file given that some links should have two parents (which I found to be not supported by urdf specification, let me know if I'm wrong) . As I plan to train some RL algorithm for the arm, I need a good simulation environment. Right now, the current version of the urdf file can be found at https://github.com/NicolayP/jb2a_pack.... However, the end effector is behaving in a weird way as every element isn't correctly attached.
To spawn model in gazbo : roslaunch jb2a_driver spawn_gazebo.launch
P.S: This is not a recruitment message, but anyone willing to spend time and a from scratch robotic project is welcomed.
