The latest update to ARMOR adds closed-loop control, automatically calculated at each joint from the mass and inertia of the appendage it drives. The visible result: the ARMOR Bot now falls flat on its face, stiff as a board — a marked change from the wet noodle it used to be.
On the technical side, this means ARMOR’s data model now encodes ros2_control blocks, which get parsed as PD actuator blocks in MuJoCo.
Some of the automation and cleanup around this is landing in an incremental build shortly after this release.
Key Points
- Closed-loop PD control calculated automatically per joint, from mass and inertia
- Joints hold their pose under gravity instead of going limp
ros2_controlblocks now part of ARMOR’s data model- Parsed into MuJoCo PD actuator blocks under the hood