27 lines
628 B
Python
27 lines
628 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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