Where is setJointMotorControl2 defined?

[sash-a]

Hi there, I'm currently trying to extend a bullet API for julia and I can't seem to find where setJointMotorControl2 is defined. I see setJointMotorControl here, but looking at python code setJointMotorControl2 seems to have more args than setJointMotorControl so I'm assuming it's a different method. For instance in robot_bases.py:

def disable_motor(self):
  self._p.setJointMotorControl2(self.bodies[self.bodyIndex],
                              self.jointIndex,
                              controlMode=pybullet.POSITION_CONTROL,
                              targetPosition=0,
                              targetVelocity=0,
                              positionGain=0.1,
                              velocityGain=0.1,
                              force=0)

However setJointMotorControl uses b3RobotSimulatorJointMotorArgs which do not contain positionGain, velocityGain or force fields. If someone could explain to me the different between the two methods or point me towards the implementation of setJointMotorControl2 that would be appreciated as I can't seem to find it in this repo.

[BinglunWang]

Hi sash-a,

I got the same question.

And do you know how exactly setJointMotorControl2 works for POSITION_CONTROL?

I hope to find out how they get the desired PD control values.

[sash-a]

Hi sorry this was a long time ago and so I don't remember. I would recommend using MuJoCo as I remember I had more success with that.