I’m trying to get the cylinder link below to be mounted to base_tail_seg(a moving object) with a floating joint such that the cylinder can move freely(like a ball joint), and while this urdf runs without errors, the cylinder still looks fixed in Isaac Gym. Is there anything else we need to add in order for us to visualize the cylinder moving?
<joint name="base_static_joint2" type="floating">
<origin rpy="0 0 0" xyz="0 0.15 0"/>
<!-- <origin rpy="0 0 0" xyz="0.048 0 0.058"/> -->
<parent link="base_tail_seg"/>
<child link="tail_seg1"/>
<calibration rising="0.0"/>
<dynamics damping="0.0" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-3.14" upper="3.14" />
</joint>
<link
name="tail_seg1">
<inertial>
<origin
xyz="0.00793179544277737 2.48115460577673E-19 0.0312047945759253"
rpy="0 0 0" />
<mass
value="0.5"/>
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="-1.57 0 0" />
<geometry>
<cylinder length="0.15" radius="0.006"/>
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0.03"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="../meshes/sagittarius_base_link.obj" /> -->
<box size="0.25 0.1 0.05"/>
</geometry>
<child link="tail_segment1"/>
</collision>
</link>