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URDF parsing #47

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thowell opened this issue May 17, 2022 · 2 comments
Open

URDF parsing #47

thowell opened this issue May 17, 2022 · 2 comments
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enhancement New feature or request

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@thowell
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thowell commented May 17, 2022

Add functionality for parsing values:

  • joint limits
  • damping
  • friction (?)

from URDF models, instead of adding post hoc in an environment.
@janbruedigam
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Parsing of damping is included now

@simon-lc
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simon-lc commented Jun 5, 2022

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

@janbruedigam janbruedigam added the enhancement New feature or request label Apr 12, 2023
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@thowell @simon-lc @janbruedigam