Source code for morse.actuators.external_force

import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.actuator
from morse.helpers.components import add_data

[docs]class ExternalForce(morse.core.actuator.Actuator): """ This class will read force and torque as input from an external middleware, and applys them to the associated robot in the global frame. It allows to simulate impact of the environment on the robot, such as wind, flow, ... """ _name = "External Force/Torque " _short_desc= "Force and torque generated by the environment" add_data('force', [0.0, 0.0, 0.0], "vec3<float>", "force along x, y, z") add_data('torque', [0.0, 0.0, 0.0], "vec3<float>", "torque around x, y, z") def __init__(self, obj, parent=None):'%s initialization' % morse.core.actuator.Actuator.__init__(self, obj, parent)'Component initialized')
[docs] def default_action(self): robot = self.robot_parent.bge_object robot.applyForce(self.local_data['force'], False) robot.applyTorque(self.local_data['torque'], False)