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import pybullet as p
import time
import math
import pybullet_data
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
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)
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