Initialize dynamics model reflected rotor inertia from SDFormat

nepfaff / robot_payload_id

Identifying object inertial properties using a robot arm

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Initialize dynamics model reflected rotor inertia from SDFormat #7

Open nepfaff opened 7 months ago

nepfaff commented 7 months ago

We are currently initializing the reflected rotor inertia with a small constant (see here). Instead, we should initialize it from the SDFormat file and then disturb it like the other parameters before optimization.

They appear in the SDFormat file here.

nepfaff commented 7 months ago

Blocked by https://github.com/nepfaff/robot_payload_id/issues/8