G1-D URDF lacks proper modelling of the base.

[jesusortega-link]

It looks like the G1-D URDF has a simplified version of the robot's base as a simple differential drive with two wheels. Are there any plans in the future for updating it into an accurate model of the physical robot for deployment in simulation env.?

[plume2109]

any update ?

[jesusortega-link]

@plume2109 Not as of today, would be nice to be able to properly model the dynamics of the base.