9aa5a839d5
add constraint.py example.
allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
24 lines
506 B
Python
24 lines
506 B
Python
import pybullet as p
|
|
import time
|
|
import math
|
|
|
|
p.connect(p.GUI)
|
|
|
|
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])
|
|
|
|
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)
|
|
|
|
p.removeConstraint(cid) |