Support for 'articulation_controller' in Robot Articulations

[LukasVindbjerg]

Hello,

I'm working with the OmniIsaacGymEnvs environment, specifically focusing on the robot articulations in the directory omniisaacgymenvs/robots/articulations/.

I've noticed that in all the provided robot implementation examples, such as Cartpole.py, the super().__init__ method initializes the articulation_controller parameter as None:

class Cartpole(Robot):
    # ...
    super().__init__(
        prim_path=prim_path,
        name=name,
        translation=translation,
        orientation=orientation,
        articulation_controller=None,
    )

I am interested in using a custom articulation_controller that I have set up with my robot in an Action Graph. I haven't been able to find any documentation or examples on how to implement or integrate this.

Is it possible to do so, and if so, could anyone provide some guidance or point me towards any documentation or examples that cover this use case?

Thank you in advance for any help you can provide.