Simulating Geared Motor with DoF Armature

I’m looking for a way to train a wheeled robot with geared motors. The goal is for the robot to balance on two wheels (using effort control), so modeling the correct torque on the body and wheels is important. From what I can tell from some cursory research, armature inertia can be used to approximate this. Is this the correct way to simulate geared motors in Isaac Gym?

Hi @kevinh,

I’d try using it. Maybe it’s not the only step required for the correct torque on your robot, but it’s a reasonable first step, at least.