In this example, an existing load is modified to apply a torque proportional to the joint velocity. Two Methods are discussed:

Method 1

Obtain the velocity measure from the joint:

joint = CS_Joint.Find(_jid)
vel=joint.GetVelocity()

Next, modify an existing moment in order to use the velocity measure as its input measure:

Env=CS_Environment.FindFirstNonNull() 

ids=Env.DSToInternalIds[_jcid] 

load=CS_Actuator.Find(ids[0])
load.SetInputMeasure(vel)

Method 2

Using this method, the load is created entirely using commands. These commands are shown below.

Env=CS_Environment.FindFirstNonNull() 

load=CS_JointDOFLoad(joint,0)
load.SetInputMeasure(vel)
load.SetFunc('0.1*(-2*acos(-1)-time)',0) 

Env.Loads.Add(load)