Support for prismatic series elastic actuator?

erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Apache License 2.0

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Closed nyxaria closed 3 years ago

nyxaria commented 3 years ago

Hi, is it possible to model a prismatic joint which has a spring and can be supplied force via a linear elastic actuator?

Thank you!

erwincoumans commented 3 years ago

You can add a prismatic joint (supported in urdf) and use a PD controller on it.