Hi @jim.rothrock,
The closest thing in URDF that corresponds to MJCF actuators is transmissions. We’re looking into supporting those as actuators.
The actuator API in Isaac Gym is a fairly lightweight wrapper over DOFs, so you can actually use DOF properties and DOF controls (force and PD targets) directly to accomplish anything that you can do with actuators.
It was an omission on our part to not provide actuator support for URDF assets - sorry about that! Hopefully we can rectify this soon.
Take care
– Lukasz