Python getConstraintUniqueId示例

示例#1

文件： pybullet_utils.py 项目： TrendingTechnology/decentralized-multiarm

def get_constraint_ids():
    """
    getConstraintUniqueId will take a serial index in range 0..getNumConstraints,  and reports the constraint unique id.
    Note that the constraint unique ids may not be contiguous, since you may remove constraints.
    """
    return sorted(
        [p.getConstraintUniqueId(i) for i in range(p.getNumConstraints())])

示例#2

文件： grasp.py 项目： rachelholladay/pb_robot

def get_constraints():
    """
    getConstraintUniqueId will take a serial index in range 0..getNumConstraints,  and reports the constraint unique id.
    Note that the constraint unique ids may not be contiguous, since you may remove constraints.
    """
    return [p.getConstraintUniqueId(i, physicsClientId=CLIENT)
            for i in range(p.getNumConstraints(physicsClientId=CLIENT))]

示例#3

文件： constraint.py 项目： ARoefer/pbsbtest

import pybullet as p
import time
import math

from pbsbtest.utils import res_pkg_path

p.connect(p.GUI)

p.loadURDF(res_pkg_path("package://pbsbtest/urdf/plane.urdf"))
cubeId = p.loadURDF(res_pkg_path("package://pbsbtest/urdf/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])
print cid
print p.getConstraintUniqueId(0)
prev = [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, maxForce=50)

p.removeConstraint(cid)

示例#4

文件： constraint.py 项目： jiapei100/bullet3

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])
print (cid)
print (p.getConstraintUniqueId(0))
prev=[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, maxForce=50)

p.removeConstraint(cid)

示例#5

文件： constraint.py 项目： Icequamber/Creature

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])
print(cid)
print(p.getConstraintUniqueId(0))
prev = [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, maxForce=50)

p.removeConstraint(cid)

示例#6

文件： constraint.py 项目： AndrewMeadows/bullet3

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])
print cid
print p.getConstraintUniqueId(0)
prev=[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, maxForce=50)

p.removeConstraint(cid)

示例#7

 def getConstraintUniqueId(self, serialIndex):
     return p.getConstraintUniqueId(self.kukaUid, serialIndex)