Pybullet Document Reference-Control

1 base( of the robot )

• either fixed with 0-DOF or fully free with 6-DOF
• not regular 'link', index -1.

2 getNumJoints

• required UniqueId, the return of loadURDF etc.

3 getJointInfo

• required UniqueId, the return of loadURDF etc.
• required joint index.
• return a  list of information.

4 setJointMotorControl2 / setJointMotorControlArray

• setJointMotorControl is obsolete and repalced by -2
• REQUIRED: 
  • bodyUniqueId(the return from loadURDF etc)
  • jointIndex(int),
  • controlMode(int, one of POSITION_CONTROL, VELOCITY_CONTROL,TORQUE_CONTROL, PD_CONTROL)
• OPTIONAL:
  • targetPosition in POSITION_CONTROL (target position of the joint),
  • targetVelocity in VELOCITY_CONTROL and POSITION_CONTROL(the desired velocity of the joint, not the maximum velocity)
  • force in POSITION_CONTROL and VELOCITY_CONTROL (the maximum motor force used to reach the target value). in FORCE_CONTROL force/torque to be applied each simulation step
  • maxVelocity in POSITION_CONTROL( the limitation of velocity to the maximum)
  • positionGain, velocityGain

5 setJointMotorControlArray

• instead of making calls for each joint as setJointMotorControl2 does, pass arrays for all inputs
• same parameters as setJointMotorControl2, replacing integers with lists of integers
• REQUIRED:
  • bodyUniqueId(int, the return from loadURDF etc)
  • jointIndices(list of int)
  • controlMode(int, POSTION_CONTROL...etc, as in setJointMotor2)
• OPTIONAL:
  • targetPositions (list of float)
  • targetVelocities (list of float)
  • forces (list of float)
  • positionGains (list of float), velocityGrain (list of float), physicsClientId (int)

6 getJointState(s)

• INPU