actuation_delay

ActuationDelay

Delay the position targets (references) of all joints belonging to a model for a configurable number of physics steps.

⚠️ This plugin must be inserted in the model before enabling the controller (either the default PID or a custom one). In the case of PIDs, they are enabled by ScenarIO when either Joint::setControlMode or Model::setJointControlMode are called.

Metadata

lib_name	class_name
ActuationDelay	gsp::ActuationDelay

Context

Name	Optional	Type	Default	Description
delay	No	int	-	The number of physics step to delay all joint references

SDF

<plugin filename="ActuationDelay" name="gsp::ActuationDelay">
    <!-- Context -->
    <delay>10</delay>
</plugin>

Python

from gazebo_scenario_plugins import plugins
from scenario import gazebo as scenario_gazebo

# [...] Create the simulation and insert the model 'my_model'

# Create the plugin context
actuation_delay = plugins.ActuationDelay(delay=10)

# Insert the plugin to the model
ok = scenario_gazebo.insert_plugin_to_gazebo_entity(
    my_model.to_gazebo(), *actuation_delay.args())
assert ok, "Failed to insert the plugin"