PA-10 6-DOF robotic arm
This actuator reads a list of angles for the segments of the Mitsubishi PA-10 arm and applies them as local rotations.
Angles are expected in radians.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
speed of each joint, in rad/s
tolerance on the position, in radians
This actuator reads these datafields at each simulation step:
first joint (base), in radians
second joint, in radians
third joint, in radians
fourth joint, in radians
fifth joint, in radians
sixth joint (wrist), in radians
(attention, no interface support!)
Returns the properties of a component.
a dictionary of the current component’s properties
MORSE service to set the rotation for each of the arm joints. It receives an array containing the angle to give to each of the robot articulations. Angles are expected in radians. The length of the array should be equal to 6 or less, where any values not specified will be considered as 0.0.
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 pa10 = PA10() # place your component at the correct location pa10.translate(<x>, <y>, <z>) pa10.rotate(<rx>, <ry>, <rz>) robot.append(pa10) # define one or several communication interface, like 'socket' pa10.add_interface(<interface>) env = Environment('empty')