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I know that the sdf format supports closed kinematic chains, but does drake's multibody tree sdf parser handle these correctly at the moment? Thanks!

Neel Doshi
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Not yet, but I spoke to Alejandro on our team; I've filed an issue here: https://github.com/RobotLocomotion/drake/issues/9566 He mentioned that it's on his plate for upcoming features.

Thanks!

Eric Cousineau
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