The CalcInverseDynamics function says that reflected rotor inertias are included. However, at the moment, we are adding them ourselves here. This looks like a redundancy.
The goal of this issue is to ensure that we only consider the reflected rotor inertia once and that we can both disturb and extract the corresponding parameter.
calc_reflected_inertia() should allow us to extract the parameter. We will want to add it to autodiff and set it here with the other parameters.
The CalcInverseDynamics function says that reflected rotor inertias are included. However, at the moment, we are adding them ourselves here. This looks like a redundancy.
The goal of this issue is to ensure that we only consider the reflected rotor inertia once and that we can both disturb and extract the corresponding parameter.
calc_reflected_inertia() should allow us to extract the parameter. We will want to add it to autodiff and set it here with the other parameters.