o = objects[i]
h = r.getHandle(o + '/handle')
h.setMask([True, True, True, False, True, True])
# placement constraint
placementName = "place_sphere{0}".format(i)
ps.createTransformationConstraint(placementName, "",
"sphere{0}/root_joint".format(i),
[0, 0, 0.02, 0, 0, 0, 1],
[False, False, True, True, True, False])
# placement complement constraint
ps.createTransformationConstraint(placementName + '/complement', "",
"sphere{0}/root_joint".format(i),
[0, 0, 0.02, 0, 0, 0, 1],
[True, True, False, False, False, True])
ps.setConstantRightHandSide(placementName + '/complement', False)
# combination of placement and complement
ps.createLockedJoint(
placementName + '/hold', "sphere{0}/root_joint".format(i),
[0, 0, 0.02, 0, 0, 0, 1],
[Equality, Equality, EqualToZero, EqualToZero, EqualToZero, Equality])
ps.registerConstraints(placementName, placementName + '/complement',
placementName + '/hold')
preplacementName = "preplace_sphere{0}".format(i)
ps.createTransformationConstraint(preplacementName, "",
"sphere{0}/root_joint".format(i),
[0, 0, 0.1, 0, 0, 0, 1],
[False, False, True, True, True, False])
# combination of pre-placement and complement
## Constraints
#
for i in range(nSphere):
# placement constraint
constraintName = "place_sphere{0}".format(i)
ps.createTransformationConstraint(constraintName, "",
"sphere{0}/root_joint".format(i),
[0, 0, 0.025, 0, 0, 0, 1],
[False, False, True, True, True, False])
# placement complement
constraintName = "place_sphere{0}/complement".format(i)
ps.createTransformationConstraint(constraintName, "",
"sphere{0}/root_joint".format(i),
[0, 0, 0.025, 0, 0, 0, 1],
[True, True, False, False, False, True])
ps.setConstantRightHandSide(constraintName, False)
# preplacement constraint
constraintName = "preplace_sphere{0}".format(i)
ps.createTransformationConstraint(constraintName, "",
"sphere{0}/root_joint".format(i),
[0, 0, 0.075, 0, 0, 0, 1],
[False, False, True, True, True, False])
for i in range(nCylinder):
# placement constraint
constraintName = "place_cylinder{0}".format(i)
ps.createTransformationConstraint(constraintName, "",
"cylinder{0}/root_joint".format(i),
[0, 0, 0.025, 0, 0, 0, 1],
[False, False, True, True, True, False])
