def __init__(self, count: int, name: str, joint_names: List[str]):
super().__init__(count, name, joint_names)
suffix = '' if count == 0 else '#%d' % (count - 1)
self._touch_sensors = []
i = 0
while True:
fname = '%s_touchSensor%d%s' % (name, i, suffix)
if not ForceSensor.exists(fname):
break
self._touch_sensors.append(ForceSensor(fname))
i += 1
def __init__(self, count: int, name: str, joint_names: List[str]):
super().__init__(count, name, joint_names)
suffix = '' if count == 0 else '#%d' % (count - 1)
prox_name = '%s_attachProxSensor%s' % (name, suffix)
attach_name = '%s_attachPoint%s' % (name, suffix)
self._proximity_sensor = ProximitySensor(prox_name)
self._attach_point = ForceSensor(attach_name)
self._old_parents: List[Object] = []
self._grasped_objects: List[Object] = []
self._prev_positions = [None] * len(joint_names)
self._prev_vels = [None] * len(joint_names) # Used to stop oscillating
self._touch_sensors = []
i = 0
while True:
fname = '%s_touchSensor%d%s' % (name, i, suffix)
if not ForceSensor.exists(fname):
break
self._touch_sensors.append(ForceSensor(fname))
i += 1