sim.sap_runtime.SapControl#

class sim.sap_runtime.SapControl(joint_f: array, joint_target_pos: array | None = None, joint_target_vel: array | None = None, joint_act: array | None = None, joint_f_order: Literal['sap', 'public'] = 'sap')[source]#

Bases: object

Mutable control input for a SAP timestep, including generalized forces, drive targets, target velocities, and actuation values.

__init__(joint_f: array, joint_target_pos: array | None = None, joint_target_vel: array | None = None, joint_act: array | None = None, joint_f_order: Literal['sap', 'public'] = 'sap') → None#

Methods

`__init__`(joint_f[, joint_target_pos, ...])
`clear`()	Clear direct forces, drive targets, target velocities, and actuation arrays in place.

Attributes

`joint_act`
`joint_f_order`
`joint_target_pos`
`joint_target_vel`
`joint_f`