Open MrstupidJ opened 1 year ago
You can manually create a single Mechanism
with multiple sub-mechanisms simply by connecting all of them to the same origin. Parsing of multiple URDF files at once is currently not supported, but would be a nice feature that shouldn't be too difficult to implement. Feel free to create a pull request.
Manually you would parse the URDF files individually, and replace the joints connecting each mechanism to their origin with the same joint type to a single origin.
Hi @janbruedigam , thanks for the hints provided here. But may I ask what do you means by "connecting" here, suppose I use the panda
mechanism and cartpole
mechanism, do I just add all the cartpole
parts to the end of the panda
body,joints,contacts vector while setting the origin as the same of panda?
Yes, that should work
Hi,
Just wonder if it is possible to have multiple mechanisms in one simulation so that we can simulate multiple robots or some simple tasks like pick up and place items. A short example would be much appreciated, thanks for your help!
Cheers!