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How can we change the damping coefficient of RevoluteJoint after calling parser.AddModelFromFile(urdf_file_name)? I believe damping_ is the variable that I need to change, but there is not setter for this variable: https://github.com/RobotLocomotion/drake/blob/838160f3813be33eda8ff42f424b1887076bcbdc/multibody/tree/revolute_joint.h#L121

Should I simply add a setter in RevoluteJoint and make a pull request?

To give more background, I want to vary joint damping coefficients for domain randomization (agents are multithreaded), so changing the urdf file wouldn't work in my case.

Thanks!

Eric
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1 Answers1

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We currently have an in progress list of multibody elements (Joint, RigidBody, etc.) that are set to have their parameters (such as damping) exposed and modifiable. There is a bit more detail to it than just adding a setter, so I'll have to add the feature for you. I've created an issue to track the feature request and the resulting pull request. Please feel free to add anything to that issue if you need to.

joemasterjohn
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