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dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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URDF parsing #47

Open thowell opened 2 years ago

thowell commented 2 years ago

Add functionality for parsing values:

from URDF models, instead of adding post hoc in an environment.

janbruedigam commented 2 years ago

Parsing of damping is included now

simon-lc commented 2 years ago

we could add joint friction to URDF parsing when this feature will be added to Dojo. Also I was thinking, maybe we could parse 'collisions' so that contact is modeled in the URDF A collision holds the contact shape (sphere, capsule, box, half-space) its position/orientation wrt the object it is attached to, the friction coefficient