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()
sim.Send_Cylinder(ID=1,
x=0,
y=ARM_LENGTH / 2.0,
z=ARM_LENGTH + ARM_RADIUS,
r1=0,
r2=1,
r3=0,
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)
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,
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()
pi = constants.pi
sim = PYROSIM(playPaused=True, evalTime=10000)
sim.Send_Cylinder(objectID=0, x=0, y=0, z=0.6, length=1.0, radius=0.1)
sim.Send_Cylinder(objectID=1,
x=0,
y=0.5,
z=1.1,
length=1.0,
radius=0.1,
r=1,
g=0,
b=0,
r1=0,
r2=1,
r3=0)
sim.Send_Joint(jointID=0,
firstObjectID=0,
secondObjectID=1,
x=0,
y=0,
z=1.1,
n1=1,
n2=0,
n3=0,
lo=-pi / 2,
hi=pi / 2)
sim.Start()
z = 0.5 x_1 = 0 y_1 = ARM_LENGTH/2.0 z_1 = z x_2 = ARM_LENGTH*math.cos(math.pi/4.)/2.0 y_2 = ARM_LENGTH*math.sin(math.pi/4.)/2.0+ARM_LENGTH print x_2, y_2 x_3 = -x_2 y_3 = y_2 sim.Send_Cylinder(ID = 0 , x=x_1, y=y_1, z=z, r1=0, r2=1, r3=0, length=ARM_LENGTH, radius=ARM_RADIUS) sim.Send_Cylinder(ID = 1 , x=x_2, y=y_2, z=z, r1=1, r2=1, r3=0, length=ARM_LENGTH, radius=ARM_RADIUS) sim.Send_Cylinder(ID = 2 , x=x_3, y=y_3, z=z, r1=-1,r2=1,r3=0, length=ARM_LENGTH,radius =ARM_RADIUS) sim.Send_Joint(ID = 0, firstObjectID=0, x=0, y=0, z=z, n1=0, n2=0, n3=1, lo=-3.14159/4.0, hi=+3.14159/4.0) sim.Send_Joint(ID = 1, firstObjectID=0, secondObjectID=1,x=0, y=1, z=z, n1=0, n2=0, n3=1, lo=-3.14159/4.0, hi=+3.14159/4.0) sim.Send_Joint(ID = 2, firstObjectID=0, secondObjectID=2,x=0, y=1, z=z, n1=0, n2=0, n3=1, 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_Motor_Neuron(ID = 3 , jointID = 1 ) sim.Send_Motor_Neuron(ID = 4 , jointID = 2 ) sim.Send_Bias_Neuron(ID= 5 )
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,
torque=torque,
speed=speed,
positionControl=True)
sim.Send_Joint(jointID=1,
firstObjectID=0,
secondObjectID=1,
x=0,
y=0,
z=1.5 * ARM_LENGTH)
sim.Send_User_Input_Neuron(neuronID=0, values=1)
sim.Send_Motor_Neuron(neuronID=1, jointID=0)
