Request about adam and modifying urdf

[PietroFerrario]

Hello,
I'm working on a co-design project using adam to load the urdf file of a robot model. I'd like to ask if it possible to modify such a file, once it's loaded, directly using this library. Or if there is no such a feature and the only way to do it is to first modify the urdf and then to load it with adam.

[CarlottaSartore]

Hello @PietroFerrario,

Thank you for opening an issue and for your interest in using Adam for co-design projects!

Regarding your question about modifying a URDF file after it has been loaded using Adam: while the library itself does not currently support direct modification of the URDF once it's loaded, there is an alternative approach that might fit your needs.

Adam provides a parametric implementation that allows you to parameterize the robot model based on specific hardware parameters, such as link lengths and densities. You can find more information about this functionality here:
Parametric Implementation

This implementation enables you to derive dynamic and kinematic quantities parameterized by these hardware properties, effectively supporting customization of the robot model for co-design purposes. Once you have used Adam to identify the desired link hardware parameters, you can create a new URDF that reflects these changes using the urdf-modifiers.

Additionally, you can explore detailed examples in the ADAM test folder to understand how this parameterization works in practice:Test Example Parametric

We hope this answers your question. Let us know if this answer your question or if you need any additional information !

[PietroFerrario]

Thank you @CarlottaSartore for your answer!