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()