Source code for morse.actuators.force_torque

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

[docs]class ForceTorque(morse.core.actuator.Actuator): """ 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. """ _name = "Force/Torque Motion Controller" _short_desc="Motion controller using force and torque" 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") add_property('_robot_frame', False, 'RobotFrame', 'bool', 'If set to true ' 'the inputs are applied in the Robot coordinate frame instead of the ' 'actuator frame.') def __init__(self, obj, parent=None):'%s initialization' % # Call the constructor of the parent class morse.core.actuator.Actuator.__init__(self, obj, parent)'Component initialized')
[docs] def default_action(self): """ Apply (force, torque) to the parent robot. """ # Get the the parent robot robot = self.robot_parent if self._robot_frame: # directly apply local forces and torques to the blender object of the parent robot robot.bge_object.applyForce(self.local_data['force'], True) robot.bge_object.applyTorque(self.local_data['torque'], True) else: (loc, rot, scale) = robot.position_3d.transformation3d_with(self.position_3d).matrix.decompose() # rotate into robot frame, but still at actuator origin force = rot * mathutils.Vector(self.local_data['force']) torque = rot * mathutils.Vector(self.local_data['torque']) # add torque due to lever arm torque += loc.cross(force) robot.bge_object.applyForce(force, True) robot.bge_object.applyTorque(torque, True)