from pyrosim import PYROSIM
sim = PYROSIM(playBlind=False, playPaused=False, evalTime=1000)
x = 0
y = 0
z = 0.05
for level in range(0, 20):
sim.Send_Box(ID=level,
x=x,
y=y,
z=z,
length=0.1,
width=0.1,
height=0.1,
r=1,
g=1,
b=1)
z = z + 0.1
x = 0.1
z = 0.05
for level in range(20, 40):
sim.Send_Box(ID=level,
x=x,
y=y,
WHEEL_RADIUS = 0.1
sim = PYROSIM(playPaused=False, evalTime=1000)
sim.Send_Cylinder(objectID=0,
x=-2 * WHEEL_RADIUS,
y=-2 * WHEEL_RADIUS,
z=WHEEL_RADIUS,
length=0,
radius=WHEEL_RADIUS)
sim.Send_Box(objectID=1,
x=0,
y=0,
z=WHEEL_RADIUS,
length=4 * WHEEL_RADIUS,
width=4 * WHEEL_RADIUS,
height=WHEEL_RADIUS)
sim.Send_Joint(jointID=0,
firstObjectID=0,
secondObjectID=1,
x=-2 * WHEEL_RADIUS,
y=-2 * WHEEL_RADIUS,
z=WHEEL_RADIUS,
n1=1,
n2=0,
n3=0,
lo=-3.14159 / 4.0,
hi=+3.14159 / 4.0,
debug=False,
hpr=[121, 5, 0])
sim.Send_Cylinder(objectID=0,
x=0,
y=0,
z=2.0 * ARM_LENGTH,
r1=0,
r2=0,
r3=1,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Box(objectID=2,
x=0,
y=0,
z=1.25 * ARM_LENGTH,
length=ARM_RADIUS * 7.,
width=ARM_RADIUS * 7.0,
height=ARM_RADIUS * 7.0)
sim.Send_Joint(jointID=0,
firstObjectID=-1,
secondObjectID=0,
x=0,
y=0,
z=2.5 * ARM_LENGTH,
n1=1,
n2=0,
n3=0,
lo=-3.14159 / 2.0,
hi=+3.14159 / 2.0,
