sim.jointintparam_motor_enabled (2000): int32 parameter : dynamic motor enable state (0 or !=0)
sim.jointintparam_ctrl_enabled (2001): int32 parameter : dynamic motor control loop enable state (0 or !=0)
sim.jointfloatparam_pid_p (2002): float parameter : dynamic motor position control P parameter
sim.jointfloatparam_pid_i (2003): float parameter : dynamic motor position control I parameter
sim.jointfloatparam_pid_d (2004): float parameter : dynamic motor position control D parameter
sim.jointfloatparam_intrinsic_x (2005): float parameter (can only be read) : joint transformation, position X
sim.jointfloatparam_intrinsic_y (2006): float parameter (can only be read) : joint transformation, position Y
sim.jointfloatparam_intrinsic_z (2007): float parameter (can only be read) : joint transformation, position Z
sim.jointfloatparam_intrinsic_qx (2008): float parameter (can only be read) : joint transformation, quaternion X
sim.jointfloatparam_intrinsic_qy (2009): float parameter (can only be read) : joint transformation, quaternion Y
sim.jointfloatparam_intrinsic_qz (2010): float parameter (can only be read) : joint transformation, quaternion Z
sim.jointfloatparam_intrinsic_qw (2011): float parameter (can only be read) : joint transformation, quaternion W
sim.jointfloatparam_velocity (2012): float parameter (can only be read) : joint velocity. This is a calculated value.
sim.jointfloatparam_spherical_qx (2013): float parameter (can only be written) : spherical joint quaternion (X part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim.jointfloatparam_spherical_qy (2014): float parameter (can only be written) : spherical joint quaternion (Y part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim.jointfloatparam_spherical_qz (2015): float parameter (can only be written) : spherical joint quaternion (Z part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim.jointfloatparam_spherical_qw (2016): float parameter (can only be written) : spherical joint quaternion (W part). Writes a quaternion using also buffered values (see parameters 2013-2015)
sim.jointfloatparam_upper_limit (2017): float parameter : joint upper velocity limit. May only have an effect after simulation restart, or after resetting the joint with sim.resetDynamicObject
sim.jointfloatparam_kc_k (2018): float parameter : dynamic motor spring control K parameter
sim.jointfloatparam_kc_c (2019): float parameter : dynamic motor spring control C parameter
sim.jointfloatparam_ik_weight (2021): float parameter : joint IK resolution weight.
sim.jointfloatparam_error_x (2022): float parameter : joint internal position error X (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_y (2023): float parameter : joint internal position error Y (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_z (2024): float parameter : joint internal position error Z (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_a (2025): float parameter : joint internal orientation error alpha (euler(0)) (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_b (2026): float parameter : joint internal orientation error beta (euler(1)) (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_g (2027): float parameter : joint internal orientation error gamma (euler(2)) (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_pos (2028): float parameter : joint internal position error (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_angle (2029): float parameter : joint internal angular error (when joint is dynamically enabled). Can only be read.
sim.jointintparam_velocity_lock (2030): int32 parameter : joint velocity lock mode enable state (when enabled and joint is in velocity mode and its target velocity is zero, then the joint is locked in place).
sim.jointintparam_vortex_dep_handle (2031): int32 parameter : Vortex joint dependency, dependent joint handle. When written, the joint might have to be reset with sim.resetDynamicObject for the change to take effect.
sim.jointfloatparam_vortex_dep_multiplication (2032): float parameter : Vortex joint dependency, multiplication factor. When written, the joint might have to be reset with sim.resetDynamicObject for the change to take effect.
sim.jointfloatparam_vortex_dep_offset (2033): float parameter : Vortex joint dependency, offset. When written, the joint might have to be reset with sim.resetDynamicObject for the change to take effect.
More parameters you wish to adjust from the API? Ask us to add them for a future release!
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