Force/Torque Motion Controller

Motion controller using force and torque

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.

Configuration parameters for Force/Torque Motion Controller

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

  • RobotFrame (bool, default: False)
    If set to true the inputs are applied in the Robot coordinate frame instead of the actuator frame.

Data fields

This actuator reads these datafields at each simulation step:

  • force (vec3<float>, initial value: [0.0, 0.0, 0.0])
    force along x, y, z
  • torque (vec3<float>, initial value: [0.0, 0.0, 0.0])
    torque around x, y, z

Interface support:

Services for Force/Torque Motion Controller

  • 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



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
forcetorque = ForceTorque()

# place your component at the correct location
forcetorque.translate(<x>, <y>, <z>)
forcetorque.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.actuators.force_torque.)