Hello everyone. I an trying to grasp and manipulate objects in gazebo with a robotiq gripper. I am using the gazeborosapi for ros communication. I need to change the max step size physics parameter of the simulation while performing different tasks. I have been doing this using the gazabo/getphysicsproperties service from my rosnode.

I am using ode, so I suspect that changing the max step size parameter also changes the CFM of my models because the (kp kd) -> (CFM, ERP) mapping provided by gazebo is dependent on max step size, as given here. I need the CFM and ERP of the object I am trying to grasp to stay constant. Could anyone tell me how I could change the value of a particular object's kp and kd while the simulation is running to keep its CFM and ERP constant?