Support setting joint velocity limits

robotology / gym-ignition

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo

https://robotology.github.io/gym-ignition

GNU Lesser General Public License v3.0

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Support setting joint velocity limits #356

Closed diegoferigo closed 3 years ago

diegoferigo commented 3 years ago

Follows https://github.com/ignition-forks/dart/issues/17 (that follows https://github.com/dartsim/dart/pull/1407).

traversaro commented 3 years ago

I am a bit dubious in general about the semantics of velocity limits in simulations, and I am not really sure about what "This limit can be used to clip the velocity applied by joint", but this is not blocking.

diegoferigo commented 3 years ago

The main use case of this feature is accessing //joint/axis/limit/velocity. This is often defined in models and being able to disable or modify it from the code could be quite handy.

Having hidden limits that now are picked up from the physics engine could lead to surprising results. Even if the semantics is not fully clear, at least it could make a bell ring in developers minds when checking the available methods (or the documentation).