gz-physics
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dartsim: Support joint dynamics parameters on Ball joints
Desired behavior
Support for parameters such as damping on ball joints.
Alternatives considered
none
Implementation suggestion
Currently, none of the dynamics parameters are supported. The comment on https://github.com/gazebosim/gz-physics/blob/62ee52cf00c39b50eeea3570f79623afa2225fc8/dartsim/src/SDFFeatures.cc#L1120 indicates that this is because SDFormat doesn't support it and the following issues confirm that:
https://github.com/gazebosim/sdformat/issues/331 https://github.com/gazebosim/sdformat/issues/1250 https://github.com/gazebosim/sdformat/issues/860
However, maybe we can add an implementation where the parameters from the first <axis>
are used for all the DOFs.
Additional context
none