Adding rotor inertia to joints with motor/transmission mechanism

[varunm99]

Hello, I came across this library and am very excited to use it. In my use case I need to model the rotational inertia of the motors which are specified as motorInertia within the transmission/actuator section of the URDF. It appears that the URDF parser does not successfully parse this field and instead says Unknown tag "motorInertia" in /robot/transmission/actuator.

It is possible to correct this by manually adding the rotor inertia (it only appears along the diagonal of the mass matrix) but I would appreciate any help in finding a better way to do this using this library.

Thanks!

[Giulero]

Hi @varunm99 , first of all thanks for your interest in adam!
I'm afraid that the urdf parser (urdf_parser_py via urdfdom-py) used in adam does not handle the motor inertia.
This would be a however nice addition! Let me do some investigation and understand how to handle this :)