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How to get the intrinsic velocity of a prismatic joint?

Posted: 07 Sep 2018, 11:19
by biscuit122
Hi, I have got the current position of a prismatic joint using sim.getJointPosition. But I have not found any other functions in lua to acquire current velocity of a prismatic joint. Could you please tell me? Thanks for your help in advance.

In addtion, I would like to change Control properties in Joint Dynamic Properties using lua script. For example, I would like to enable Control loop during 1-20s, and after that the joint is Control loop disabled. How can I do?