Teleport

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.

Note

Coordinates are given with respect to the origin of Blender’s coordinate axis.

Configuration parameters for Teleport

No configurable parameter.

Data fields

This actuator reads these datafields at each simulation step:

  • x (float, initial value: initial robot X position)

    X coordinate of the destination, in meter

  • y (float, initial value: initial robot Y position)

    Y coordinate of the destination, in meter

  • z (float, initial value: initial robot Z position)

    Z coordinate of the destination, in meter

  • yaw (float, initial value: Initial robot yaw)

    Rotation of the robot around Z axis, in radian

  • pitch (float, initial value: Initial robot pitch)

    Rotation of the robot around Y axis, in radian

  • roll (float, initial value: Initial robot roll)

    Rotation of the robot around X axis, in radian

Interface support:

Services for Teleport

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • rotate(roll, pitch, yaw) (blocking)

    Rotates the actuator owner by the given (roll,pitch,yaw).

    This is a relative rotation.

    • Parameters
      • roll: roll rotation, in radians
      • pitch: (default: 0.0) pitch rotation, in radians
      • yaw: (default: 0.0) yaw rotation, in radians
  • translate(x, y, z) (blocking)

    Translate the actuator owner by the given (x,y,z) vector.

    This is a relative displacement.

    • Parameters
      • x: X translation, in meter
      • y: (default: 0.0) Y translation, in meter
      • z: (default: 0.0) Z translation, in meter
  • 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
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')

Other sources of examples

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

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