def get_joint_force(self) -> List:
joint_force = [] #[fl, fr, bl. br]
joint_force.append(sim.simGetJointForce(self.motorHandles[0]))
joint_force.append(sim.simGetJointForce(self.motorHandles[1]))
joint_force.append(sim.simGetJointForce(self.motorHandles[2]))
joint_force.append(sim.simGetJointForce(self.motorHandles[3]))
return joint_force
def get_joint_force(self) -> float:
"""Retrieves the force or torque applied along/about its active axis.
This function retrieves meaningful information only if the joint is
prismatic or revolute, and is dynamically enabled. With the Bullet
engine, this function returns the force or torque applied to the joint
motor (torques from joint limits are not taken into account). With the
ODE and Vortex engine, this function returns the total force or torque
applied to a joint along/about its z-axis.
:return: The force or the torque applied to the joint along/about
its z-axis.
"""
return sim.simGetJointForce(self._handle)