[mhead10]

I have a grasper which opens and closes. When the grasper is nearby a torus, and is closed, I have linked the grasper with the torus.

However, when I open the grasper, and I remove the link (by link.remove() and link=None), the grasper is visually still linked to the torus in Vizard.

I have a print statement telling me the grasper is no longer linked (link = None), so I don't understand what the problem could be.

Furthermore, I have a separate grouping of commented out code, using vizact and the spacebar, which performs the above task flawlessly.

Any help would be appreciated.

Thanks!

import viz
import ctypes
import numpy
import viztask
import time
import threading
import math
import vizshape
import vizcam
import vizact
viz.phys.enable()  
viz.collision(viz.ON)
viz.go()

#Add grid
grid = vizshape.addGrid()
grid.color(viz.GRAY)
grid.collidePlane()   # Make collideable plane

data = numpy.zeros((max_num_samples,),dtype=numpy.float64)


# read in initial value from DAQ NI-6008
CHK(nidaq.DAQmxReadAnalogF64(taskHandle,1,
		float64(-1),
		DAQmx_Val_GroupByChannel,data.ctypes.data,max_num_samples,ctypes.byref(read),None))
		
#Add an object.
shaft = viz.add('shaft.dae', pos = (0,5,-5))
babcock_1 = viz.addChild('origin.dae', parent = shaft)
babcock_2 = viz.addChild('origin.dae', parent = shaft)

pic_base = viz.addTexture('silver.jpg') #silver cylindar
pic_torus = viz.addTexture('green.jpg') #green rings

#creation of pegs
cylinder1=vizshape.addCylinder(height=2, radius=.25, topRadius=None, bottomRadius=None, axis=vizshape.AXIS_Y, slices=20, bottom=True,top=True, pos = (-1,1,2.5), texture = pic_base)

cylinder1.collideCapsule(radius = .25, length = 1,bounce = 0, friction = 1)

joint1 = viz.phys.addFixedJoint(cylinder1,grid)

# creation of rings-modified from farshizzo
RADIUS = 0.5
TUBE_RADIUS = 0.1
d = 2 # density
f = 10 #friction
h = .01 #hardness 

torus1 = vizshape.addTorus(radius=RADIUS,tubeRadius=TUBE_RADIUS, pos = (-1,0,2.5), texture = pic_torus)
for deg in range(0,360,20):
	x = math.sin(viz.radians(deg)) * RADIUS
	z = math.cos(viz.radians(deg)) * RADIUS
	torus1.collideSphere(radius=TUBE_RADIUS-.08,pos=(x,0,z), bounce = 0, friction = f, density = d, hardness = h)

link = None #The handle to the link object

def read_DAQ(): # used obtain DAQ values
	global link
	scale = 40 #degrees (360/9)
	trans_scale = 10 #translation pot (pot #1)
	CHK(nidaq.DAQmxReadAnalogF64(taskHandle,1,
		float64(-1),
		DAQmx_Val_GroupByChannel,data.ctypes.data,max_num_samples,ctypes.byref(read),None))
	
	#Grasper Movement (opening/closing)
	if data[2]*scale > x: #graspers are not touching #data[2] is my grasper reading from a DAQ
		babcock_1.setEuler(x-data[2]*scale,0,0,viz.ABS_GLOBAL)
		babcock_2.setEuler(-x+data[2]*scale,0,180,viz.ABS_GLOBAL)
		#print 'greater'
		print
	else: #graspers are touching
		babcock_1.setEuler(x/scale,0,0,viz.ABS_GLOBAL)
		babcock_2.setEuler((x/scale),0,180,viz.ABS_GLOBAL)	
		#print 'less'
		print
		
	if data[2]*scale < x:#GRASPER CLOSED
		if (spx >= (t1px - 0.20) and spx <= (t1px + 0.20)): #and grasper's within bounds
			print 'within range so; linked'
			link = viz.grab(shaft, torus1)								#link shaft to torus1
		else:												#grasper is closed, but out of bounds 		
			if link != None:#previously linked
				link.remove()
				link = None
				print 'grasper is closed, out of bounds, and was not previously linked'
	else:  #GRASPER OPEN
		if link != None:
			link.remove()
			link = None
##########################################################################################################################################
	
# director function used to call the DAQ reading (difference) and WAITS for its return
def director_function_loop():
	while True:
		value = yield viztask.waitDirector(read_DAQ) #director function!
viztask.schedule(director_function_loop())

"""#the following code works perfectly with the space bar
#Grab or let go of the ring
def toggleLink():
	global link
	print link
	if link:
		#If link exits, stop grabbing
		link.remove()
		link = None
	else:
		#If no link, grab the torus with the shaft(parent + grasper tip (children))
		link = viz.grab(shaft, torus1)
vizact.onkeydown(' ',toggleLink)
"""