def reset_dynamic_object(self) -> None:
"""Dynamically resets an object that is dynamically simulated.
This means that the object representation in the dynamics engine is
removed, and added again. This can be useful when the set-up of a
dynamically simulated chain needs to be modified during simulation
(e.g. joint or shape attachement position/orientation changed).
It should be noted that calling this on a dynamically simulated object
might slightly change its position/orientation relative to its parent
(since the object will be disconnected from the dynamics world in its
current position/orientation), so the user is in charge of rectifying
for that.
"""
sim.simResetDynamicObject(self._handle)
def _set_velocity(handle, lin_velocity=[0, 0, 0], ang_velocity=[0, 0, 0]):
# reset dynamic object
sim.simResetDynamicObject(handle)
# shapefloatparam_init_velocity_x
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_x, lin_velocity[0])
# shapefloatparam_init_velocity_y
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_y, lin_velocity[1])
# shapefloatparam_init_velocity_z
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_z, lin_velocity[2])
# shapefloatparam_init_velocity_a
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_a, ang_velocity[0])
# shapefloatparam_init_velocity_b
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_b, ang_velocity[1])
# shapefloatparam_init_velocity_g
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_g, ang_velocity[2])
