Fake virtual robot

This is a special case of component in MORSE. Since all sensors or actuators must be attached to one robot, it would not normally be possible to use “stand-alone” sensors in the environment.

If you need to use a sensor in this way, (i.e. for motion capture sensors, or independent cameras) you should add an virtual (fake) robot to the scene, and make it the parent of your stand-alone sensors.

This robot has no visual representation, and consists of a single Blender Empty. Its only purpose is to provide the base to attach sensors. A single fake robot can be the parent of as many sensors/actuators as needed.

Configuration parameters for Fake virtual robot

You can :

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

Services for Fake virtual robot

  • 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 *

# creates a new instance of the robot
fakerobot = FakeRobot()

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

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

env = Environment('empty')

Other sources of examples

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

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