17219f84c6
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
27 lines
579 B
Python
27 lines
579 B
Python
import pybullet as p
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import time
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import math
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p.connect(p.GUI)
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p.loadURDF("plane.urdf")
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cubeId = p.loadURDF("cube_small.urdf",0,0,1)
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p.setGravity(0,0,-10)
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p.setRealTimeSimulation(1)
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cid = p.createConstraint(cubeId,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,1])
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print (cid)
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print (p.getConstraintUniqueId(0))
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prev=[0,0,1]
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a=-math.pi
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while 1:
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a=a+0.01
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if (a>math.pi):
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a=-math.pi
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time.sleep(.01)
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p.setGravity(0,0,-10)
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pivot=[a,0,1]
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orn = p.getQuaternionFromEuler([a,0,0])
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p.changeConstraint(cid,pivot,jointChildFrameOrientation=orn, maxForce=50)
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p.removeConstraint(cid)
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