Hello everyone,
I would like to know if Isaac sim supports closed kinematic chains. I imported the urdf file (open chain) then added the joint that closes the chain, when I started the simulation it gave me the following error message:
Thanks to anyone who answers!
Hi,
PhysX SDK cant simulate a closed articulation - when all joints are handled as articulated joints - reduce coordinate. Therefore its needed to exclude one joint from the articulation (there is a bool on a joint). This will change that joint to be a maximum coordinate joint connecting the two articulation ends.
Regards,
Ales
Hi,
Thanks for the interpretation, i am wondering where I can find the detailed explain of the all kinds of joint definition, there feature, there parameters, config or usage?
Best,
Shuteng