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gazebosim / gz-physics

Abstract physics interface designed to support simulation and rapid development of robot applications.
https://gazebosim.org
Apache License 2.0
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Add Feature to allow runtime changes to joint friction, damping, spring properties #449

Open scpeters opened 1 year ago

scpeters commented 1 year ago

Desired behavior

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 https://github.com/gazebosim/gz-physics/issues/96 which requested the ability to set joint limits at runtime, resolved in https://github.com/gazebosim/gz-physics/pull/260.

Alternatives considered

Implementation suggestion

See https://github.com/gazebosim/gz-physics/pull/260

Additional context

francocipollone commented 2 months ago

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?

scpeters commented 2 months ago

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