Spring joint

[amberxie88]

Is there support for spring joints? If not, is it easy to incorporate?

Here are some of the links I was looking at:

https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Joints.html#distance-joint

https://sapien.ucsd.edu/docs/2.1/apidoc/sapien.core.html#sapien.core.pysapien.Drive.set_distance_limit

Thanks in advance!

[StoneT2000]

@fbxiang do we have this for sapien 3?

[StoneT2000]

Alternatively @amberxie88 what is your use case for these joints? There may be a useful alternatives

[fbxiang]

@fbxiang do we have this for sapien 3?

Maybe it can be achieved with another distance joint?

https://github.com/haosulab/SAPIEN/blob/fd97712362e6f7424952d99507317d2f2606e108/python/py_package/pysapien/physx.pyi#L579

[amberxie88]

I'm trying to simulate piano keys that will bounce back after being hit, so I think I should actually be able to implement this just with the revolute joints? I set joint.set_drive_properties(stiffness=2, damping=0.05) , but what I notice is that the keys will randomly flicker down/up. I tried various different stiffnesses / damping, turned off gravity, turned off self-collisions, reset the qpos at 0 at the beginning of each episode, but it still has this behavior.

Is this an issue with the parameters I'm using, or should I be using a different joint?