Motion controller which changes instantly robot pose (position and orientation)
This actuator teleports the robot to the absolute position and orientation with respect to the origin of the Blender coordinate reference. Angles are expected in radians.
Coordinates are given with respect to the origin of Blender’s coordinate axis.
No configurable parameter.
This actuator reads these datafields at each simulation step:
X coordinate of the destination, in meter
Y coordinate of the destination, in meter
Z coordinate of the destination, in meter
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
Rotates the actuator owner by the given (roll,pitch,yaw).
This is a relative rotation.
Translate the actuator owner by the given (x,y,z) vector.
This is a relative displacement.
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 teleport = Teleport() # place your component at the correct location teleport.translate(<x>, <y>, <z>) teleport.rotate(<rx>, <ry>, <rz>) robot.append(teleport) # define one or several communication interface, like 'socket' teleport.add_interface(<interface>) env = Environment('empty')