This question is related to Are URDF transmission elements supported?
What is the difference between a DOF and an actuator? When humanoid.py reads nv_humanoid.xml, gym.get_asset_dof_count(humanoid_asset) and gym.get_asset_actuator_count(humanoid_asset) both return 21. When I modify humanoid.xml to use my URDF file, I get 40 DOFs, but 0 actuators. I know that a URDF joint corresponds to a DOF, but is there anything in a URDF file that corresponds to an actuator? I am trying to determine whether I can just replace humanoid.py’s actuator code with DOF code, but it would help if I had a better idea of what an actuator does. Thanks for any help you can provide.