ROS Q&A | Parallel Robots – Implementing closed kinematic chains
Creating robots with Closed Kinematics structures in URDF is not supported. Thats why we have to use SDF format to be able to create them.
Here is a micro-tutorial on how to create a simple closed box example in RDS: http://www.theconstructsim.com/rds-ro….
You will also learn how to move it through the gzclient applying torques to the joints.
Thank you to https://github.com/progtologist/gazeb… because it was very useful to get this simple example working.