RWI B21 platform
================

.. image:: ../../../media/robots/b21.png
  :align: center
  :width: 600


Definition for the B21 platform, distributed by RWI. This
cylindrical robot for Human-Robot interactions.


.. cssclass:: properties morse-section

Configuration parameters for RWI B21 platform
---------------------------------------------


You can :

- set the mass of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_mass()`
- set the friction coefficient of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_friction()`


You can set these properties in your scripts with ``<component>.properties(<property1>=..., <property2>=...)``.

- ``NoGravity`` (bool, default: ``False``)
	Indicate if we want to consider the gravity for this                 robot If true, the behaviour is less realistic as the                 simulator will automatically compensate it. This setting                 is useful for non-realistic model flying or submarine                 robot 
- ``GroundRobot`` (bool, default: ``False``)
	Indicate if the robot is a ground robot, i.e.                   basically if it has no way to control its position on the                   Z axis, nor this X and Y rotation axis


.. cssclass:: services morse-section

Services for RWI B21 platform
-----------------------------

- ``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 *
    
    # creates a new instance of the robot
    b21 = B21()

    # place your component at the correct location
    b21.translate(<x>, <y>, <z>)
    b21.rotate(<rx>, <ry>, <rz>)
    
    # define one or several communication interface, like 'socket'
    b21.add_interface(<interface>)

    env = Environment('empty')
    

.. cssclass:: files morse-section

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

- `Source code <../../_modules/morse/robots/b21.html>`_
- `Unit-test <../../_modules/base/b21_testing.html>`_




*(This page has been auto-generated from MORSE module morse.robots.b21.)*