sim = PYROSIM( playPaused=True, evalTime=100 ) sim.Send_Cylinder( objectID = 0 , x=0 , y=0 , z=0.6 , length=1 , radius=0.1 ) sim.Send_Cylinder( objectID = 1 , x=0 , y=0.5, z=1.1, 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=-3.14159/2, hi=3.14159/2) sim.Send_Touch_Sensor(sensorID = 0 , objectID = 0) sim.Send_Touch_Sensor(sensorID = 1 , objectID = 1) sim.Send_Proprioceptive_Sensor(sensorID=2, jointID=0) sim.Send_Ray_Sensor(sensorID = 3 , objectID = 1 , x = 0 , y = 1.1 , z = 1.1 , r1 = 0 , r2 = 1, r3 = 0) #sim.Send_Ray_Sensor(sensorID = 3 , objectID = 1 , x = 0 , y = 0.5 , z = 1.0 , r1 = 0 , r2 = 0, r3 = -1) sim.Start() sim.Wait_To_Finish() sensorData = sim.Get_Sensor_Data(sensorID = 0) print sensorData #f = plt.figure() #pn = f.add_subplot(111) #plt.plot(sensorData) #pn.set_ylim(-2,+2)
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.Send_Proprioceptive_Sensor(sensorID=2, jointID=0)
# sensor that returns current angle of joint in rads
#sim.Send_Ray_Sensor(sensorID=3, objectID=1, x=0, y=1.1, z=1.1, r1=0, r2=1, r3=0)
sim.Send_Ray_Sensor(sensorID=3,
objectID=1,
x=0,
y=.55,
z=1.1,
r1=0,
r2=0,
r3=-1)
# sensor that sends ray outwards and returns length of that ray
# xyz is where it resides (at the tip in this case)
# r's define where to point
sim.Start()
sim.Wait_To_Finish()
sensorData = sim.Get_Sensor_Data(sensorID=3)
print sensorData
