This sensor is an high-level sensor, returning the attitude of the sensor (i.e. angles and angular velocities). It can be seen as the integration of an IMU, or a couple gyroscope/gyrometer.
If the robot has a physics controller, the velocities are directly read from its property localAngularVelocity. Otherwise the velocities are calculated by simple differentiation. The measurements are given in the sensor coordinate system.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
If set to true, return the absolute yaw against North. The whole geodetic coordinates (longitude, latitude, altitude, angle_against_north) must be configured. Otherwise, return the yaw against the Blender coordinates
Kind of computation, can be one of [‘Velocity’, ‘Position’]. Only robot with dynamic and Velocity control can choose Velocity computation. Default choice is Velocity for robot with physics, and Position for others
This sensor exports these datafields at each simulation step:
number of seconds in simulated time
rotation of the sensor, in radian
rates in the sensors axis x, y, z axes (in radian . sec ^ -1)
Returns the properties of a component.
a dictionary of the current component’s properties
Returns the current data stored in the sensor.
a dictionary of the current sensor’s data
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 sensor attitude = Attitude() # place your component at the correct location attitude.translate(<x>, <y>, <z>) attitude.rotate(<rx>, <ry>, <rz>) robot.append(attitude) # define one or several communication interface, like 'socket' attitude.add_interface(<interface>) env = Environment('empty')