High Level Control of Robots

[Jouiii]

Hello all
I would like to control the robots directly at a higher level and not just at the joint level. My goal is to control a quadruped or a drone with twist commands. I've already tried to use the Anymal Controller to derive the joint angles using the advance() method and then pass them to the ActionManager, but then I ran into problems with numpy arrays (switching to the CPU is not my preferred solution in the long run).
I saw that #260 goes in a similar direction with the action graph, but I'm more interested in a coding solution. So, to summarize: how do you use complex mobile robots at a higher level of abstraction in Orbit?

Thanks in advance for any help.

[Mayankm96]

We have this feature under review. Should be merged next week :)

[Jouiii]

Great news and thanks for the reply.

[shiven2001]

Did this feature end up getting added? If yes, where can I find it?