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,
positionControl=False)
sim.Send_Touch_Sensor(sensorID=0, objectID=0)
sim.Send_Sensor_Neuron(neuronID=0, sensorID=0)
sim.Send_Motor_Neuron(neuronID=1, jointID=0)
sim.Send_Synapse(sourceNeuronID=0, targetNeuronID=1, weight=1.0)
sim.Start()
#sim.Collect_Sensor_Data()
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Joint(ID=0,
firstObjectID=0,
secondObjectID=1,
x=0,
y=0,
z=ARM_LENGTH + ARM_RADIUS,
n1=1,
n2=0,
n3=0,
lo=-3.14159 / 4.0,
hi=+3.14159 / 4.0)
sim.Send_Touch_Sensor(ID=0, objectIndex=0)
sim.Send_Touch_Sensor(ID=1, objectIndex=1)
sim.Send_Sensor_Neuron(ID=0, sensorID=0)
sim.Send_Sensor_Neuron(ID=1, sensorID=1)
sim.Send_Motor_Neuron(ID=2, jointID=0)
sim.Send_Synapse(sourceNeuronIndex=0, targetNeuronIndex=2, weight=1.0)
sim.Send_Synapse(sourceNeuronIndex=1, targetNeuronIndex=2, weight=1.0)
sim.Start()
sim.Send_Ray_Sensor(sensorID=3,
objectID=1,
x=0,
y=1.1,
z=1.1,
r1=0,
r2=1,
r3=0)
sim.Send_Sensor_Neuron(neuronID=0, sensorID=0)
sim.Send_Sensor_Neuron(neuronID=1, sensorID=1)
sim.Send_Motor_Neuron(neuronID=2, jointID=0)
#sim.Send_Synapse(sourceNeuronID = 0 , targetNeuronID = 2 , weight = -1.0 )
sim.Send_Synapse(sourceNeuronID=1, targetNeuronID=2, weight=-1.0)
sim.Start()
sim.Wait_To_Finish()
sensorData = sim.Get_Sensor_Data(sensorID=2)
#f = plt.figure()
#ax = f.add_subplot(111)
#plt.plot(sensorData)
#ax.set_ylim(-2,+2)
#plt.show()
