from pyrosim import PYROSIM import matplotlib.pyplot as plt sim = PYROSIM(playPaused=True , evalTime=100) sim.Send_Cylinder( objectID=0, x=0 , y=0 , z=.6 , length=1.0 , radius=0.1 ) sim.Send_Cylinder( objectID=1 , x=0 , y=.5 , z=1.1 , r1=0 , r2=1, r3=0 , length=1.0 , radius=0.1 , r=1, g=0, b=0) sim.Send_Joint( jointID = 0 , firstObjectID = 0 , secondObjectID = 1, x=0 , y=0 , z=1.1, n1 = -1 , n2 = 0 , n3 = 0, lo=-3.14159/2 , hi=3.14159/2 ) sim.Send_Touch_Sensor( sensorID = 0 , objectID = 0 ) sim.Send_Touch_Sensor( sensorID = 1 , objectID = 1 ) sim.Start() sim.Wait_To_Finish() sensorData = sim.Get_Sensor_Data(sensorID = 1) print sensorData #f = plt.figure() #pn = f.add_subplot(111) #plt.plot(sensorData) #plt.show()
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()