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…ets) Replace the in-repo packages/linker-robot-assets tree with a git submodule of linker-sim-assets (github.com/linker-bot/linker-sim-assets), mounted at the same path and pinned to v0.1.0. The packages/* workspace glob still resolves it, so [tool.uv.sources] workspace=true, the pytest pythonpath, script sys.path injections, and check_drift all keep working unchanged. Add a submodule-init + git-lfs-pull bootstrap note to README/installation.
… actuators Bump the submodule v0.1.0 -> v0.3.2. v0.2.0+ rewrote the composed MJCF actuators from <position> servos to <motor> (torque) for Isaac, which broke linker-sim's position-target control (it wrote joint-angle targets into data.ctrl). Implement the joint PD in Python: set_joint_position_target stores the target, and apply_pd() writes tau = kp*(target-q) - kv*qdot to qfrc_applied. The backend calls apply_pd() before each mj_step so the servo is recomputed per physics substep (across decimation), matching the old <position> actuator. Gains come from the manifest default_gains; write_gains updates them; set_joint_effort drops the PD target so torque mode doesn't fight it. Also update the JointPD unit test (asserts qfrc_applied torque now) and the decoder channel-mismatch test regex (shared decoder message changed in v0.3.2). 66 tests pass incl. the zero-command drift canary. The run.py QACC instability warning under reset noise is pre-existing (reproduced on v0.1.0).
h228zhou
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feat: consume linker-sim-assets v0.3.2; PD-torque control for actuators
Bump the submodule v0.1.0 -> v0.3.2. v0.2.0+ rewrote the composed MJCF actuators from servos to (torque) for Isaac, which broke linker-sim's position-target control (it wrote joint-angle targets into data.ctrl). Implement the joint PD in Python: set_joint_position_target stores the target, and apply_pd() writes tau = kp*(target-q) - kv*qdot to qfrc_applied. The backend calls apply_pd() before each mj_step so the servo is recomputed per physics substep (across decimation), matching the old actuator. Gains come from the manifest default_gains; write_gains updates them; set_joint_effort drops the PD target so torque mode doesn't fight it.
Also update the JointPD unit test (asserts qfrc_applied torque now) and the decoder channel-mismatch test regex (shared decoder message changed in v0.3.2). 66 tests pass incl. the zero-command drift canary. The run.py QACC instability warning under reset noise is pre-existing (reproduced on v0.1.0).