initialize G to 0
tidy
@@ -130,16 +130,16 @@ class Link(ABC):
return 1
dynchange = 0
+ # link inertial parameters
dynchange += dynpar(self, 'm', m, 0.0)
dynchange += dynpar(self, 'r', r, np.zeros((3,)))
dynchange += dynpar(self, 'I', I, np.zeros((3, 3)))
-
- # Motor dynamic parameters
+ # Motor inertial and frictional parameters
dynchange += dynpar(self, 'Jm', Jm, 0.0)
dynchange += dynpar(self, 'B', B, 0.0)
dynchange += dynpar(self, 'Tc', Tc, np.zeros((2,)))
- dynchange += dynpar(self, 'G', G, 1.0)
+ dynchange += dynpar(self, 'G', G, 0.0)
self.actuator = None # reference to more advanced actuator model
