Genesis
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Genesis-Embodied-AI
[Feature]: Hybrid & Custom material for URDF/XML joints
What feature or enhancement are you proposing?
Custom materials for each joint when loading URDF/XML
Motivation
As the title suggests, the end-effector of a rigid robotic arm is likely to be elastic, which makes the gripper very powerful. I saw in the documentation that when loading a URDF/XML file, only a single rigid material can be defined for the entire robotic arm. I'm not sure if it's possible to define the material for each joint later on. Thank you!
Potential Benefit
It is common for the end-effector of a robotic arm to be flexible.
What is the expected outcome of the implementation work?
When loading a URDF/XML file, it is possible to customize the material for each joint, such as defining the mass for each joint individually. I also hope to be able to define the material for each joint separately.
Additional information
No response
Basically, different solvers are used for different materials. You should have a look to hybrid entities example(s).
