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export joint types in pybullet for pybullet.createConstraint

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revert to premake4.exe, the targetsuffix etc doesn't seem to work in premake5.exe
This commit is contained in:
Erwin Coumans
2016-12-14 20:44:10 -08:00
parent a393074793
commit 9ae40a59ba
4 changed files with 17 additions and 9 deletions
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6
examples/pybullet/pybullet.c
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@@ -3883,6 +3883,12 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI); // user read
PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP); // user read
PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType); // user read
PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType); // user read
PyModule_AddIntConstant(m, "JOINT_SPHERICAL", eSphericalType); // user read
PyModule_AddIntConstant(m, "JOINT_PLANAR", ePlanarType); // user read
PyModule_AddIntConstant(m, "JOINT_FIXED", eFixedType); // user read
PyModule_AddIntConstant(m, "JOINT_POINT2POINT", ePoint2PointType); // user read
PyModule_AddIntConstant(m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE);
PyModule_AddIntConstant(m, "VELOCITY_CONTROL",

8
examples/pybullet/quadruped.py
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@@ -13,7 +13,7 @@ p.resetJointState(quadruped,0,1.57)
p.resetJointState(quadruped,2,-2.2)
p.resetJointState(quadruped,3,-1.57)
p.resetJointState(quadruped,5,2.2)
p.createConstraint(quadruped,2,quadruped,5,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.createConstraint(quadruped,2,quadruped,5,p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,1.57,1)
p.setJointMotorControl(quadruped,1,p.VELOCITY_CONTROL,0,0)
@@ -27,7 +27,7 @@ p.resetJointState(quadruped,6,1.57)
p.resetJointState(quadruped,8,-2.2)
p.resetJointState(quadruped,9,-1.57)
p.resetJointState(quadruped,11,2.2)
p.createConstraint(quadruped,8,quadruped,11,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.createConstraint(quadruped,8,quadruped,11,p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,1.57,1)
p.setJointMotorControl(quadruped,7,p.VELOCITY_CONTROL,0,0)
@@ -42,7 +42,7 @@ p.resetJointState(quadruped,12,1.57)
p.resetJointState(quadruped,14,-2.2)
p.resetJointState(quadruped,15,-1.57)
p.resetJointState(quadruped,17,2.2)
p.createConstraint(quadruped,14,quadruped,17,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.createConstraint(quadruped,14,quadruped,17,p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,1.57,1)
p.setJointMotorControl(quadruped,13,p.VELOCITY_CONTROL,0,0)
@@ -56,7 +56,7 @@ p.resetJointState(quadruped,18,1.57)
p.resetJointState(quadruped,20,-2.2)
p.resetJointState(quadruped,21,-1.57)
p.resetJointState(quadruped,23,2.2)
p.createConstraint(quadruped,20,quadruped,23,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.createConstraint(quadruped,20,quadruped,23,p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,1.57,1)
p.setJointMotorControl(quadruped,19,p.VELOCITY_CONTROL,0,0)