## Required Constraints (Closed-Loop Mechanism)
The robot needs **3 fixed connections** for passive joints:
1. **Link7 ↔ Link3** (pin-hole connection)
2. **Link4 ↔ Link5** (parallel linkage)
3. **Link9 ↔ Link4** (gripper mechanism)
## What I've Tried
1. Created FixedJoint constraints between the link pairs
2. Set correct body references and local positions
3. Added ArticulationRootAPI to robot root
pro_model.zip (1.5 KB)
Hi, there’re errors when I tried to import the URDF you shared. Here’s the Joints doc on how you can create various joints in Isaac Sim. Hope it helps.
But the issue is that my model has closed loops in joints which causes articulation errors and even on exclusion from articulation i am not able to fix the joints to their position, they always move upon using the physics Inspector. Also there was no original URDF file for this but a .xacro file from the following repository.
Any help to fix the issue is appreciated!
I would suggest you verify the URDF generated in ROS with check_urdf and fix the joints in the URDF directly, instead of re-creating them in Isaac Sim.