Adding disturbance to simulation

[anakagungkrisna]

Hello, i am currently working on the ballbot mpcnet for my project. however I see that the provided examples does not work with physics engine simulation, rather it uses robcogen to derive its equation of motion.

My project is about robust control, and i want to test the system if it encounters an unknown disturbance, the easiest case is extra payload. How can i do this in the provided simulation example in RViz? i tried modifying the urdf file but it doesnt seem to respond to it. I suspect i need to modify the inertia matrix and mass in the equation of motion? where can I get this code? does it has a parameter file which contains the hyperparameter for the robot description?

thank you

[anakagungkrisna]

Hello, i want to answer my previous question, i think i found it, and hopefully its the correct one.

I trace the code of BallbotSystemDynamics.cpp and found the InertiaProperties class, and it leads to inertia_properties.h. Inside inertia_properties.h, there is inertia_properties.impl.h, where it contains all the implementation of mass and inertia matrices according to the ballbot.urdf. If i change it, i can see different behavior in the simulation.

for anyone interested in doing the same thing, i provide the flow of the files:
BallbotMpcnetDummyNode.cpp -> the main simulation loop
BallbotInterface.cpp -> provide the rollout class for the forward dynamics and the system dynamics class
BallbotSystemDynamics.cpp -> the main class of the ballbot system dynamics, where it contains the interface to the inertia parameter
inertia_properties.h -> the header files for interfacing the inertia parameter
inertia_properties.impl.h -> contains the actual inertia parameter for the ballbot system dynamics