How do I use a parallel mechanism in isaacgym?

isaac-sim / IsaacGymEnvs

Isaac Gym Reinforcement Learning Environments

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How do I use a parallel mechanism in isaacgym? #165

Open shitoujie opened 1 year ago

shitoujie commented 1 year ago

As we all know, URDF, SDF and MJCF specify articulated bodies as a tree-structures without loops. In pybullet we can create arbitrary constraints between objects, and between an object and a specific world frame to connect the legs of a quadruped 5-bar closed loop linkage. So how can i expot a series machanism in urdf and use it as a parallel mechanism in isaacgym?

shitoujie commented 1 year ago

we can also use a dummy module to turn a serial structure into parallel structure in vrep

sanbens1234 commented 2 months ago

I have the same question, could anyone give me an answer?