Finally… Parallel simulation without crazy bugs!
Hi guys! This is my full devlog starting to do even more interesting software #9
Starting to get busier with school unfortunately but made a huge breakthrough recently
Its fine though after senioritis hits I will lock tf in on this
Change log:

• Previously there was an issue where the imported URDF would fall through the floor. This was caused by missing tags in the URDF file for each part. To fix it meant to add it into every part MANUALLY which sucks.

• Another issue with the URDF format was that the parallel linkage system for the knees was unsupported and required a TON of tweaks that I didn’t want to do.

• So upon further research I found that Genesis World also supported MJCF(MuJuCo’s format) and that it supported the parallel linkage with minor tweaking mainly involving renaming LOTS of joints and changing the config.json file for onshape-to-robot tool a lot.
  Edited config file and original CAD file to include where the imu is so the simulation would know as well as motor power, weight, and friction to ensure sim to real isn’t too hard to implement, this may require further tuning down the line.

• Created simple schematic for all electrically connected components.
  Imported to Genesis World and was able to position control each joint, one step closer to training it.

• Was able to get a parallel simulation running on amdgpu
  Had claude patch up my xml file since it had floating geometry for some reason and I ran out of onshape API tokens so I couldn’t convert anymore