robotic-decision-making-lab / hydrodynamics Goto Github PK

Feature Type

Adding new functionality

Problem Description

User's currently need to manually provide hydrodynamic parameters which is ok if you are using a configuration file. But this process is tedious and is a bit of an eye-sore.

Feature Description

Implement a parser capable of parsing hydrodynamic parameters from a robot's URDF file. This would fit in with the more traditional robotics modeling approach (using URDF instead of a configuration file) and would be much easier to use.

Alternative Solutions

You could instead write just a generic parser, which would be fine, but ultimately I think that supporting URDF configurations specifically should be a higher priority.

Additional Context

SDFormat provides something similar for Gazebo. It might be useful to provide support for that format of parameters to avoid forcing users to duplicate things.