Hello,
Is there any way to make a robot with a closed kinematic chain in klampt? If so, are examples available, e.g. a simple loop-type system?
My system of interest is a floating base, closed chain which 'opens' over time - that is, joints disappear on command, and links are removed. The kinematics & dynamics during the opening procedure are of great interest. Thus far, I've simulated a simplified version of the system using an open chain, but now need to reach a higher level of fidelity.
Alternatively, perhaps there is another viable approach to model this system in klampt?
Thanks in advance!