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MultiBody without Dynamics

Posted: Tue Aug 22, 2017 11:52 pm
by astrobot
I'd like to be able to generate a MultiBody robot arm object to be able to handle internal collision checking and be able to define revolute joints and such. However, I don't actually want to model the dynamics of the system, but rather only have a kinematic model where straight line connections between updated poses are checked for collision. How is that possible for a MultiBody object since it seems you can only define kinematic models for RigidBody objects?