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

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alberthli opened this issue Nov 16, 2023 · 0 comments
Open

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

alberthli opened this issue Nov 16, 2023 · 0 comments

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@alberthli
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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.
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@alberthli