okermorgant / gz_attach_links Goto Github PK

Have you tried creating this kind of a closed loop on something that is not attached rigidly to the world?

I've been trying to model closed loop kinematics on an excavator model but at least with the Detachable joints plugin the model goes haywire if it's not fixed to the world. I'm guessing that the closed loop is causing some kind of situation where movements of each joint is multiplied over and over again and this causes massive velocities and the instant something touches the ground plane for example, sends the model flying and gazebo crashes.