(self, init_position, init_orientation)
return fixed_constraint
Create a constraint that keeps the chassis at a fixed frame.

    This frame is defined by init_position and init_orientation.

    Args:
      init_position: initial position of the fixed frame.
      init_orientation: initial orientation of the fixed frame in quaternion
        format [x,y,z,w].

    Returns:
      Return the constraint id.
Create a constraint that keeps the chassis at a fixed frame.
Create a constraint that keeps the chassis at a fixed frame .
def _CreateRackConstraint(self, init_position, init_orientation):
    """Create a constraint that keeps the chassis at a fixed frame.

    This frame is defined by init_position and init_orientation.

    Args:
      init_position: initial position of the fixed frame.
      init_orientation: initial orientation of the fixed frame in quaternion
        format [x,y,z,w].

    Returns:
      Return the constraint id.
    """
    fixed_constraint = self._pybullet_client.createConstraint(
        parentBodyUniqueId=self.quadruped,
        parentLinkIndex=-1,
        childBodyUniqueId=-1,
        childLinkIndex=-1,
        jointType=self._pybullet_client.JOINT_FIXED,
        jointAxis=[0, 0, 0],
        parentFramePosition=[0, 0, 0],
        childFramePosition=init_position,
        childFrameOrientation=init_orientation)
    return fixed_constraint
def _CreateRackConstraint ( self , init_position , init_orientation ) : fixed_constraint = self . _pybullet_client . createConstraint ( parentBodyUniqueId = self . quadruped , parentLinkIndex = - 1 , childBodyUniqueId = - 1 , childLinkIndex = - 1 , jointType = self . _pybullet_client . JOINT_FIXED , jointAxis = [ 0 , 0 , 0 ] , parentFramePosition = [ 0 , 0 , 0 ] , childFramePosition = init_position , childFrameOrientation = init_orientation ) return fixed_constraint