CoppeliaSim forums

Hi

I have multiple joints and want to change their properties all at once. Can this be done through the API or is there somehow to group joints so they shares dynamic properties (such as maximum torque and velocity limits)?

Best regards
Alexander

Hello Alexander,

you can change almost all properties of joints via the API. You have 3 groups of APIs for doing this:

• specific functions, e.g. sim.setJointForce, sim.setJointTargetVelocity
• specific object parameters, e.g. sim.setObjectFloatParameter(handle,sim.jointfloatparam_upper_limit,upperLimit)
• specific physics engine properties, e.g. sim.setEngineFloatParameter(sim.ode_joint_stoperp,handle,value).

Then, using a customization script (or better, add-on script) and some custom UI, you can build that functionality. Note however that not all properties can be modified while simulation is running.

Cheers

Thanks, that worked !

Best regards
Alexander