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Seeing the relatonship and understanding of the creation of two contraints

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Darío Urbina
2020-07-13 12:22:49 -07:00
parent 6b6cfa6f03
commit 01d74be777
1 changed files with 11 additions and 0 deletions
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11
examples/pybullet/examples/constraint.py
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@@ -8,9 +8,17 @@ p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadURDF("plane.urdf")
cubeId = p.loadURDF("cube_small.urdf", 0, 0, 1)
cubeId2 = 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])
cid2 = p.createConstraint(cubeId2, -1, cubeId, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0, 0, 1])
#cid2 = p.createConstraint(base_1, -1, base_2, 0, p.JOINT_FIXED, [0, 0, 0], [0, 0, 2], [0, 0, 0])
print(cid)
print(p.getConstraintUniqueId(0))
prev = [0, 0, 1]
@@ -22,7 +30,10 @@ while 1:
time.sleep(.01)
p.setGravity(0, 0, -10)
pivot = [a, 0, 1]
pivot2 = [-a, 0, 1]
orn = p.getQuaternionFromEuler([a, 0, 0])
p.changeConstraint(cid, pivot, jointChildFrameOrientation=orn, maxForce=50)
#p.changeConstraint(cid2, pivot2, jointChildFrameOrientation=orn, maxForce=50)
p.removeConstraint(cid)