A part of a plant is easily modeled by MutibodyPlant Class, unfortunately, other parts of a plant look like to be modeled by leaf System. Can Drake do such things? Plant A: muti-links arm --> Using SDF and MutibodyPlant class for modeling Plant B: an inertial wheel is attached to the end of the arm --> Using Leaf system to define dynamic(time derivate) of an inertial wheel.
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Wc. I'm not getting why you can't do the whole model in MultibodyPlant. The inertial wheel could be a link attached via a revolute joint. The controller that keeps it spinning at a desired rate would be a separate LeafSystem (like other controllers) that would use the revolute joint's rate as input and generate an actuator output (back to MBPlant).
Regards, Sherm
Sherm
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Thank you for reply. I will try to do in that way you describe. – Wc Chang Feb 17 '20 at 23:28
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I agree with Sherm. But if you do have some non-rigid-body forces to apply, then you can certainly do what you’ve asked. You just need to apply the “interaction forces” either through the actuation inputs or add a new spatial force input.
Russ Tedrake
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