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Add joint_natural_frequency and joint_damping_ratio to GenericJoint. #789

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Add joint_natural_frequency and joint_damping_ratio to GenericJoint. #789

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@Vrixyz Vrixyz commented Jan 14, 2025 •
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⚠️ I'm not sure about multibodies, their cfm_coeff and rhs_bias computed from joint_natural_frequency and joint_damping_ratio is shared with all constraint solver methods, so we'd probably need a strategy to conciliate different values into one?

  • I'd like to add example for that, but lack intuition on what values to input.

@Vrixyz Vrixyz requested review from sebcrozet and removed request for sebcrozet January 27, 2025 08:33
@Vrixyz Vrixyz requested a review from sebcrozet January 31, 2025 10:48
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Add the possiblity to set joint_natural_frequency and joint_damping_ratio per joint
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