An actuator to change robot orientation.
Motion controller changing the robot orientation.
This actuator reads the values of angles of rotation around the 3 axis and applies them to the associated robot. This rotation is applied with the speed provided in properties. For backward compatibility reasons, the default speed is infinite, so the rotation is instantaneous. Angles are expected in radians.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
Rotation speed, in radian by sec
Tolerance in radian to decide if the robot has reached the goal
Kind of control, can be one of [‘Velocity’, ‘Position’]
This actuator reads these datafields at each simulation step:
Rotation of the robot around Z axis, in radian
Rotation of the robot around Y axis, in radian
Rotation of the robot around X axis, in radian
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 orientation = Orientation() # place your component at the correct location orientation.translate(<x>, <y>, <z>) orientation.rotate(<rx>, <ry>, <rz>) robot.append(orientation) # define one or several communication interface, like 'socket' orientation.add_interface(<interface>) env = Environment('empty')