External Force/Torque 
======================


**Force and torque generated by the environment**


This class will read force and torque as input from an external
middleware, and applys them to the associated robot in the global
frame.

It allows to simulate impact of the environment on the robot, such
as wind, flow, ...


.. cssclass:: properties morse-section

Configuration parameters for External Force/Torque 
---------------------------------------------------

*No configurable parameter.*

.. cssclass:: fields morse-section

Data fields
-----------


This actuator reads these datafields at each simulation step:

- ``force`` (vec3<float>, initial value: ``[0.0, 0.0, 0.0]``)
	force along x, y, z
- ``torque`` (vec3<float>, initial value: ``[0.0, 0.0, 0.0]``)
	torque around x, y, z

*Interface support:*

(attention, no interface support!)

.. cssclass:: services morse-section

Services for External Force/Torque 
-----------------------------------

- ``get_properties()`` (blocking)
    Returns the properties of a component.
    
    
  - Return value

    a dictionary of the current component's properties  

- ``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  



.. cssclass:: examples morse-section

Examples
--------


The following examples show how to use this component in a *Builder* script:

.. code-block:: python


    from morse.builder import *
    
    # adds a default robot (the MORSE mascott!)
    robot = Morsy()
    
    # creates a new instance of the actuator
    externalforce = ExternalForce()

    # place your component at the correct location
    externalforce.translate(<x>, <y>, <z>)
    externalforce.rotate(<rx>, <ry>, <rz>)
    
    robot.append(externalforce)
    
    # define one or several communication interface, like 'socket'
    externalforce.add_interface(<interface>)

    env = Environment('empty')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/actuators/external_force.html>`_
- `Unit-test <../../_modules/base/external_force_testing.html>`_




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