Detect objects colliding with the current object.

Sensor to detect objects colliding with the current object, with more settings than the Touch sensor

Configuration parameters for collision

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

  • collision_property (string, default: "")

    Only look for objects with this property, default “” (all objects)

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of milliseconds in simulated time

  • collision (bool, initial value: False)

    objects colliding with the current object

  • objects (string, initial value: ````)

    A list of colliding objects.

Interface support:

(attention, no interface support!)

Services for Collision

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • 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


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

from morse.builder import *

robot = ATRV()

# creates a new instance of the sensor
collision = Collision()

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


# define one or several communication interface, like 'socket'

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.sensors.collision.)

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