def set_joint_target_velocity(self, velocity: float) -> None:
"""Sets the intrinsic target velocity of a non-spherical joint.
This command makes only sense when the joint mode is torque/force
mode: the dynamics functionality and the joint motor have to be
enabled (position control should however be disabled).
:param velocity: Target velocity of the joint (linear or angular
velocity depending on the joint-type).
"""
sim.simSetJointTargetVelocity(self._handle, velocity)
def set_velocity(self, lf, rf, lb, rb) -> None:
v = [lf, rf, lb, rb]
# sim.simSetJointForce(self._handle,100)
for i in range(2):
sim.simSetJointForce(self.motorHandles[2 * i], self.joint_force)
sim.simSetJointTargetVelocity(self.motorHandles[2 * i], v[2 * i])
for i in range(2):
sim.simSetJointForce(self.motorHandles[2 * i + 1],
self.joint_force)
sim.simSetJointTargetVelocity(self.motorHandles[2 * i + 1],
-v[2 * i + 1])
def set_torque(self, lf, rf, lb, rb) -> None:
t = [lf, rf, lb, rb]
for i in range(2):
if t[2 * i] > 0:
sim.simSetJointForce(self.motorHandles[2 * i], t[2 * i])
sim.simSetJointTargetVelocity(
self.motorHandles[2 * i],
1000000000000000) #unreachable value
else:
sim.simSetJointForce(self.motorHandles[2 * i], -t[2 * i])
sim.simSetJointTargetVelocity(
self.motorHandles[2 * i],
-1000000000000000) #unreachable value
for i in range(2):
if t[2 * i + 1] > 0:
sim.simSetJointForce(self.motorHandles[2 * i + 1],
t[2 * i + 1])
sim.simSetJointTargetVelocity(
self.motorHandles[2 * i + 1],
-1000000000000000) #unreachable value
else:
sim.simSetJointForce(self.motorHandles[2 * i + 1],
-t[2 * i + 1])
sim.simSetJointTargetVelocity(
self.motorHandles[2 * i + 1],
1000000000000000) #unreachable value