This sensor returns the linear and angular velocity of the sensor, both in robot frame and in world frame. Linear velocities are expressed in meter . sec ^ -1 while angular velocities are expressed in radian . sec ^ -1.
The sensor expects that the associated robot has a physics controller.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
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
velocity in sensor x, y, z axes (in meter . sec ^ -1)
rates in sensor x, y, z axes (in radian . sec ^ -1)
velocity in world x, y, z axes (in meter . 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 velocity = Velocity() # place your component at the correct location velocity.translate(<x>, <y>, <z>) velocity.rotate(<rx>, <ry>, <rz>) robot.append(velocity) # define one or several communication interface, like 'socket' velocity.add_interface(<interface>) env = Environment('empty')