Force/Torque Motion Controller¶
Motion controller using force and torque
This class will read force and torque as input from an external middleware. The forces and torques are transformed from the actuator frame to the parent robot frame and then applied to the robot blender object. If the property RobotFrame is set to True it will be applied directly in the robot frame without changes.
Configuration parameters for Force/Torque Motion Controller¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
RobotFrame
(bool, default:False
)- If set to true the inputs are applied in the Robot coordinate frame instead of the actuator frame.
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:
socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)ros
as geometry_msgs/Wrench (morse.middleware.ros.force_torque.WrenchReader
)
Services for Force/Torque Motion Controller¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
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
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
forcetorque = ForceTorque()
# place your component at the correct location
forcetorque.translate(<x>, <y>, <z>)
forcetorque.rotate(<rx>, <ry>, <rz>)
robot.append(forcetorque)
# define one or several communication interface, like 'socket'
forcetorque.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.force_torque.)