Multiple mechanisms in one simulation

[MrstupidJ]

Hi,

Just wonder if it is possible to have multiple mechanisms in one simulation so that we can simulate multiple robots or some simple tasks like pick up and place items. A short example would be much appreciated, thanks for your help!

Cheers!

[janbruedigam]

You can manually create a single Mechanism with multiple sub-mechanisms simply by connecting all of them to the same origin. Parsing of multiple URDF files at once is currently not supported, but would be a nice feature that shouldn't be too difficult to implement. Feel free to create a pull request.
Manually you would parse the URDF files individually, and replace the joints connecting each mechanism to their origin with the same joint type to a single origin.

[Kevin-ZhangClutchit]

Hi @janbruedigam , thanks for the hints provided here. But may I ask what do you means by "connecting" here, suppose I use the panda mechanism and cartpole mechanism, do I just add all the cartpole parts to the end of the panda body,joints,contacts vector while setting the origin as the same of panda?

[janbruedigam]

Yes, that should work