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There are several joint parameters specified in //joint/axis*/dynamics such as friction, damping, spring_stiffness, and spring_reference. Several of these parameters are supported by the dartsim plugin when loading from an SDFormat file, but there is no Feature for changing these parameters at runtime. Related to #96 which requested the ability to set joint limits at runtime, resolved in #260.
Hey there! One silly question. From what I've seen in the suggested implementation, adding this feature (and later implementation in gz-sim) shouldn't break api/abi, right? It should be able to easily backport it to fortress if needed, correct?
Hey there! One silly question. From what I've seen in the suggested implementation, adding this feature (and later implementation in gz-sim) shouldn't break api/abi, right? It should be able to easily backport it to fortress if needed, correct?
correct, adding this feature shouldn't break api/abi so we should be able to backport this to fortress, though I would prefer to start by adding it to the main branch and backporting from there
Desired behavior
There are several joint parameters specified in
//joint/axis*/dynamics
such asfriction
,damping
,spring_stiffness
, andspring_reference
. Several of these parameters are supported by thedartsim
plugin when loading from an SDFormat file, but there is no Feature for changing these parameters at runtime. Related to #96 which requested the ability to set joint limits at runtime, resolved in #260.Alternatives considered
Implementation suggestion
See #260
Additional context
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