I'm looking for a way to modify a body created loadURDF - for example, add extra links to it. Is there a way to do it?
createMultiBody doesn't seem to have parameters for "parent body" and always creates everything from scratch.
Update: Since posting this I've found urdfEditor and combineUrdf example. However, urdfEditor ignores link limits. I think I have a working fix though, can provide PR/diff if anyone is interested.
Update2: roundtrip the model though urdfEditor (loadURDF followed by saveUrdf) and inverse kinematics ends up broken, giving out the following message, while it works fine on the original URDF.
b3Printf: Calculate Inverse Kinematics Request failed
b3Printf: b3Warning[examples/SharedMemory/PhysicsClientSharedMemory.cpp,1126]:.