Pyrosim github simulator#

_send_joint ( 'SliderJoint', body1, body2, axis, joint_range ) def send_ball_and_socket_joint ( self, body1, body2, anchor = ( 0, 0, 1 )): '''Send a ball and socket joint to the simulator Ball and sockets maintain the distance between the bodies and the joint Parameters - body1 : int The id tag of the first body. _assert_body ( body2, 'body2' ) if joint_range is None : joint_range = ( 1, - 1 ) # no stops try : len ( joint_range ) except : joint_range = ( - joint_range, joint_range ) else : assert ( len ( joint_range )) = 2, 'joint_range must have 2 entries' assert ( joint_range >= joint_range ), 'Slider joint cannot have infinite range' return self. (default is 0.5) Returns - int Id tag of the joint ''' self. By specifying a single float, *a*, high and low limits are create (*-a*, *a*). (default is along the z-axis ) joint_range : float or tuple of floats (optional) The limits the slider can move. Specify -1 in order to set body2 to the 'world' axis : triple of floats (optional) The axis of the slider joint.

Parameters - body1 : int The id tag of the first body. _send_joint ( 'HingeJoint', body1, body2, anchor, axis, joint_range ) def send_slider_joint ( self, body1, body2, axis = ( 0, 0, 1 ), joint_range = 0.5 ): '''Send a slider joint to the simulator Slider joints allow two bodies to move linearly in relation to one another according to the specified axis. _assert_body ( body2, 'body2' ) assert not ( body1 = - 1 and body2 = - 1 ), ( 'Both bodies cannot be the world' ) if joint_range is None : joint_range = ( 1, - 1 ) # no stops try : len ( joint_range ) except : joint_range = ( - joint_range, joint_range ) assert ( len ( joint_range )) = 2 assert ( len ( anchor )) = 3 assert ( len ( axis )) = 3 return self. (default is None meaning there are no stops) Returns - int Id tag of the joint ''' self.

You can also directly specify the low and high stops by directly specifying the tuple. By specifying a single value, *a*, the joint range becomes (*-a*, *+a*). The starting joint position is always at 0.

(default is about the z-axis ) joint_range : float or tuple (optional) The range of movement the joint can take in radians. axis : triple float (optional) The axis the bodies rotate about. Specify -1 in order to set body2 to the 'world' anchor : triple float The location of the joint. Specifying `joint_range` places stopping limits on the joint. By using -1 in place of a body id tag the joint will connect a point in space to the other body. _send_entity ( 'Joint', * args ) def send_hinge_joint ( self, body1, body2, anchor, axis = ( 0, 0, 1 ), joint_range = None, # other parameters to be added ): '''Send a hinge joint to the simulator to attach two bodies A hinge joint allows bodies to rotate in relation to one another about the specified axis. Class Mixin ( object ): def _send_joint ( self, * args ): return self.