Linear and angular speed (V, W) actuator

Motion controller using linear and angular speeds

This actuator reads the values of linear and angular speed and applies them to the robot as direct translation. The speeds provided are internally adjusted to the Blender time measure.

Configuration parameters for Linear and angular speed (V, W) actuator

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

  • ControlType (string, default: "Velocity")

    Kind of control, can be one of [‘Velocity’, ‘Position’]

Data fields

This actuator reads these datafields at each simulation step:

  • v (float, initial value: 0.0)

    linear velocity in x direction (forward movement) (m/s)

  • w (float, initial value: 0.0)

    angular velocity (rad/s)

Interface support:

Services for Linear and angular speed (V, W) actuator

  • 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

  • stop() (blocking)

    Stop the robot

    Internally, it sets (v, w) to (0.0, 0.0)

  • set_speed(v, w) (blocking)

    Modifies v and w according to the parameters

    • Parameters
      • v: desired linear velocity (meter by second)
      • w: desired angular velocity (radian by second)

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
motionvw = MotionVW()

# place your component at the correct location
motionvw.translate(<x>, <y>, <z>)
motionvw.rotate(<rx>, <ry>, <rz>)

robot.append(motionvw)

# define one or several communication interface, like 'socket'
motionvw.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

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