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make setJointPosMultiDof and setJointVelMultiDof argument const.

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add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
This commit is contained in:
erwincoumans
2018-11-10 14:26:31 -08:00
parent 642c6a71d2
commit 17219f84c6
14 changed files with 512 additions and 36 deletions
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4
examples/pybullet/examples/constraint.py
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@@ -9,8 +9,8 @@ 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)
print (cid)
print (p.getConstraintUniqueId(0))
prev=[0,0,1]
a=-math.pi
while 1: