Add Feature to allow runtime changes to joint friction, damping, spring properties #449
Labels
close the gap
Features from Gazebo-classic
enhancement
New feature or request
help wanted
Extra attention is needed
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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