Force and torque generated by the environment
This class will read force and torque as input from an external middleware, and applys them to the associated robot in the global frame.
It allows to simulate impact of the environment on the robot, such as wind, flow, ...
No configurable parameter.
This actuator reads these datafields at each simulation step:
force along x, y, z
torque around x, y, z
(attention, no interface support!)
Returns the properties of a component.
a dictionary of the current component’s properties
Modify one property on a component
Returns the configurations of a component (parsed from the properties).
a dictionary of the current component’s configurations
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 externalforce = ExternalForce() # place your component at the correct location externalforce.translate(<x>, <y>, <z>) externalforce.rotate(<rx>, <ry>, <rz>) robot.append(externalforce) # define one or several communication interface, like 'socket' externalforce.add_interface(<interface>) env = Environment('empty')