Parsing support for general and position actuators for URDF -> XML conversion

Caltech-AMBER / ambersim

In-house tools built on GPU-accelerated simulation

MIT License

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Parsing support for general and position actuators for URDF -> XML conversion #35

Open alberthli opened 10 months ago

alberthli commented 10 months ago

Currently, when parsing actuator blocks from URDFs, we assume a torque-based controller in the XML. However, we could easily instead convert those blocks into position-controlled actuators (with proportional gains), or more general actuators.