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Initialize dynamics model reflected rotor inertia from SDFormat #7

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nepfaff opened this issue Dec 9, 2023 · 1 comment
Open

Initialize dynamics model reflected rotor inertia from SDFormat #7

nepfaff opened this issue Dec 9, 2023 · 1 comment
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enhancement New feature or request

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@nepfaff
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nepfaff commented Dec 9, 2023

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 nepfaff added the enhancement New feature or request label Dec 9, 2023
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nepfaff commented Dec 10, 2023

Blocked by #8

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