Closed articluations not supported

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!

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.

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