How to set stiffness and damping for a drive with ROS2 and python

[mehdi1379_2000]

Setting joint drive stiffness and damping

Isaac Sim Version

5.0.0

Operating System

Ubuntu 22.04

Detailed Description

Hi, I have loaded my robot in a USD file and added ROS2 OmniGraphs for controlling it, which works perfectly — I can send position, velocity, and effort commands to my joints. I would like to be able to change the stiffness and damping of each joint during the simulation. If it’s possible to set them via a ROS2 OmniGraph, that would be ideal. Otherwise, I would greatly appreciate any guidance on how to do this. I’m new to Isaac Sim, so any help is very welcome.

[Simplychenable]

@mehdi1379_2000 i am just another user, but feel free to take a look at the API doc mentioned by the mod in another thread that would allow you to control the DOF properties including stiffness and damping:

How to modify the stiffness and damping values of the rotational joints during the simulation process in the GUI interactive interface

If you want to change some parameter while running the simulation, it is recommended to write a script for that. Please check out our Robots API [isaacsim.core.api] Isaac Sim Core — Isaac Sim Does this satisfy your need?

[jaohsu]

You can go to the Isaac Sim examples and check the code

[Isaac Sim]–>[Window]–>[Examples]–>[Physics Examples],

[Joints]–>[Rigid-Body Ropes]

then, it use DriveAPI to set the damping & stiffness

[mehdi1379_2000]

hi, thanks a lot for your suggestion but it doesn’t work for me. i have installed Isaac by downloading it not via pip and i am running pyhton codes using python.sh but it can not import some libraries like pxr

am i doing it in wrong way?!

[VickNV]

If you want to change the drive stiffness and damping directly on the joints, the UsdPhysics.DriveAPI is the low‑level USD/PhysX API that exposes those attributes on the prims.