I am using the sw_urdf_exporter to create the urdf file of the following assembly. Iam unable to create the link tree for this assembly. I'll be grateful if anyone can guide me.

The mechanism is the scissor mechanism for lifting objects and I need to attach it on the husky robot. I have seen youtube tutorials of the swurdfexporter but they are for quite simpler assemblies.

Asked by dev_D on 2021-04-20 09:46:44 UTC

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Answers

URDF does not support closed kinematic loops (also).

To represent it in URDF, you would have to break the kinematic loop. Alternately, you could convert to Gazebo's SDF format which does support closed kinematic loops. The best approach will depend on what your end goal is.

Asked by shonigmann on 2021-04-20 19:26:22 UTC