Is it possible to update parameters after loading a sdformat model?

[MasayaYoshiyasu13]

Hello

I am using pinocchio to build a robot model in sdformat. After that, I am creating a problem and using crocoddyl to perform model predictive control (MPC).

What I want to do is to dynamically change the spring_stiffness value of sdformat's while MPC is running.
Please note that I want to update the spring_stiffness parameter of the model, not directly change the .sdf file.

I looked into it and found an example of "Update model after loading its URDF", but I could not find any articles about sdf.

Is it possible to do what I want to do in the future? I would appreciate your answer.

[jcarpent]

Currently, we don't parse the spring_stiffness of the model. It should be added in a future release (Pinocchio 4).
Otherwise, you can change any parametric values of the Model (e.g., model.jointPlacements[my_joint_id].translation[2] = 1.)

[MasayaYoshiyasu13]

I have understood the content.
So, in the case of the mjcf robot model, are the springStiffness parameters reflected?

Also, is it possible to dynamically update the springStiffness value?