Allow to override joint friction coefficients during parsing #443
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| @@ -47,10 +47,21 @@ Joint Dynamics | |||
| ~~~~~~~~~~~~~~ | |||
| Joint dynamics are configured using environment variables starting with ``JAXSIM_JOINT_``. Available variables include: | |||
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| - ``JAXSIM_JOINT_FRICTION_STATIC``: Overrides the static friction coefficient for all joints. | |||
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Why the decision to put them as env variables?
These values should be dependent on the model. I am not convinced of having the default set via env variables.
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They should be dependent on the model, but instead of modifying the URDF, this allows to override them quickly. The default behavior does not change if the variable is not set
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This pull request introduces new configuration options for joint dynamics and updates the parser to utilize these options. It adds environment variables for static and viscous friction coefficients and modifying the parser to use these variables as defaults.
single_pendulum.mp4
single_pendulum_viscous.mp4
single_pendulum_static.mp4
📚 Documentation preview 📚: https://jaxsim--443.org.readthedocs.build//443/