Destination

Instruct the robot to move towards a given target

This actuator reads the coordinates of a destination point, and moves the robot in a straight line towards the given point, without turning. It provides a very simplistic movement, and can be used for testing or for robots with holonomic movement. The speeds provided are internally adjusted to the Blender time measure.

Configuration parameters for Destination

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • Tolerance (default: 0.5)

    (no documentation available yet)

  • Speed (default: 5.0)

    (no documentation available yet)

  • ControlType (string, default: "Velocity")

    Kind of control, can be one of [‘Velocity’, ‘Position’]

  • RemainAtDestination (bool, default: False)

    If true (default: false), the robot actively attempts to remain at the destination once reached. This is especially useful for flying robots that would otherwise typically fall.

Data fields

This actuator reads these datafields at each simulation step:

  • x (float, initial value: current X pos)

    X coordinate of the destination

  • y (float, initial value: current Y pos)

    Y coordinate of the destination

  • z (float, initial value: current Z pos)

    Z coordinate of the destination

Interface support:

Services for Destination

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • set_property(prop_name, prop_val) (blocking)

    Modify one property on a component

    • Parameters

      • prop_name: the name of the property to modify (as shown the documentation)
      • prop_val: the new value of the property. Note that there is no checking about the type of the value so be careful
    • Return value

      nothing

  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

# adds a default robot (the MORSE mascott!)
robot = Morsy()

# creates a new instance of the actuator
destination = Destination()

# place your component at the correct location
destination.translate(<x>, <y>, <z>)
destination.rotate(<rx>, <ry>, <rz>)

robot.append(destination)

# define one or several communication interface, like 'socket'
destination.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.actuators.destination.)

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