What is the use of the "actuators" information ? about frost-dev

[ayonga]

Hi,

I assume you were talking about "transmission" field in the URDF. This field is a standard URDF field, but we added a custom subfield "motorInertia" in our code. This is optional. If the motor inertia of each actuator is assigned, we would include it in the system dynamics.

Another important subfield in "transimission" is the "mechanicalReduction", which determines the torque distribution matrix (B) and also reflected inertia of the actuators (if given). If I recall it correctly, the default "mechanicalReduction" is 1 if not assigned explicitly.

[ankalou]

Yes, sorry, of course it's "transmission" ! I keep mixing up all the different names...
So if I understand correctly, the program should work (with default values) if motor inertia and mechanical reduction are not specified in the URDF ?

[ayonga]

Yes. It should work. If not, please let me know.

May I also ask you which robot model do you currently work on?

[ankalou]

Ok ! For now it doesn't work but it's a different problem (I think).
Sure, it's Aldebaran's Romeo :)

[ayonga]

Nice. Thanks :)