diff options
| author | Erwin Coumans <erwincoumans@google.com> | 2020-08-07 09:32:30 -0700 |
|---|---|---|
| committer | Erwin Coumans <erwincoumans@google.com> | 2020-08-07 09:32:30 -0700 |
| commit | a17df118f199aa3509c1bd247e188da69fe75768 (patch) | |
| tree | c0a605b3ae778e2174556046c057caf3f782f191 | |
| parent | f1cca2eea4c3fe511fc89dd95e6e09f00c8953c2 (diff) | |
| download | bullet3-a17df118f199aa3509c1bd247e188da69fe75768.tar.gz | |
re-add constraints.py I wanted to delete the changes, not the file!
(confusing github UI!)
| -rw-r--r-- | examples/pybullet/examples/constraint.py | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/examples/pybullet/examples/constraint.py b/examples/pybullet/examples/constraint.py new file mode 100644 index 000000000..70d4a6fe9 --- /dev/null +++ b/examples/pybullet/examples/constraint.py @@ -0,0 +1,28 @@ +import pybullet as p +import time +import math + +import pybullet_data +p.connect(p.GUI) +p.setAdditionalSearchPath(pybullet_data.getDataPath()) + +p.loadURDF("plane.urdf") +cubeId = p.loadURDF("cube_small.urdf", 0, 0, 1) +p.setGravity(0, 0, -10) +p.setRealTimeSimulation(1) +cid = p.createConstraint(cubeId, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0, 0, 1]) +print(cid) +print(p.getConstraintUniqueId(0)) +prev = [0, 0, 1] +a = -math.pi +while 1: + a = a + 0.01 + if (a > math.pi): + a = -math.pi + time.sleep(.01) + p.setGravity(0, 0, -10) + pivot = [a, 0, 1] + orn = p.getQuaternionFromEuler([a, 0, 0]) + p.changeConstraint(cid, pivot, jointChildFrameOrientation=orn, maxForce=50) + +p.removeConstraint(cid) |