Closed mouhyemen closed 5 years ago
The simulation for the optimization is done with iDynTree or optionally RBDL which both do not use these values. However if you set the option identifyFriction, simple friction terms are added afterwards. C.f. https://github.com/kjyv/FloBaRoID/blob/master/identification/model.py#L335 For identification purposes, these values should suffice if you measure the joint torque after the actuator (i.e. you don't need to simulate rotor inertia).
I guess your question was answered, so closing this.
I am finally able to run the trajectory script. Thanks on that end!
I know that URDF provides a way to handle frictional coefficients.
Does FloBaRoID account for friction while computing optimal trajectories? Specifically, to handle rotor inertias, coulomb/viscous frictions? If not the URDF, are there other config files where we can tweak these values?