Closed Articulation/ 2 links connected to world

Omniverse Isaac Sim
1

Hello,

My robot consists of two base links and a series of articulations. The two base links do not need to be connected to each other, but they must be fixed to the World frame.

I have attempted to connect one base link to the World, and then connect both base links together. Additionally, I have tried connecting both to the World without any direct joints between them.

However, both methods result in a “Closed Articulation not supported” error.

Is there a way to configure such a robot?

3

Hi,
yes, you can simulate it, but you cant have all joints setup to be part of the same articulation, as the error suggests, you should exclude one joint from the articulation (on a joint you can check exclude from articulation), that joint will be simulated as MC joint and will still connect the parts of the articulation and create a closed articulation.
Regards,
Ales