Simulating a Closed-Loop Robotic Manipulator in Gazebo Ignition

Gazebo
1

Hi,
I’m trying to simulate a closed-loop robotic manipulator (such as a 2D delta arm) in Gazebo Ignition. However, I’ve only found limited references for this in Gazebo Classic, and it seems that support for such configurations may be lacking or undocumented in Gazebo Ignition.

Has anyone successfully implemented a closed-loop kinematic chain in Ignition, or is there an established workaround?

Any insights or guidance would be greatly appreciated.

Thank you!

2

Unfortunately, this is not well documented yet, but you should be able to create a closed kinematic loop using the DetachableJoint plugin. Closed kinematic chains only seem to work when joints are aligned with world axes · Issue #719 · gazebosim/gz-physics · GitHub has some discussion on existing issues with it and examples.