Hi all, I want to use the forward tool of open sim with matlab while using a control law of my own. I went through the Dynamic walking tutorial and was able to figure out how to use my control law to drive the actuators using the matlab's integrator but I can't figure out a way to use the forward to...

Hi,
I am using OpenSim for Simulating Robots. I am using the Coordinate actuator as that acts as the motor in OpenSim. But, is there a way I can add motor inertia and other mechanical properties to it. Or is there some other actuator that has this properties?

Thank You,
-Nihar