RWI B21 platform

../../_images/b21.png

Definition for the B21 platform, distributed by RWI. This cylindrical robot for Human-Robot interactions.

Configuration parameters for RWI B21 platform

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 RWI B21 platform

  • 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
b21 = B21()

# place your component at the correct location
b21.translate(<x>, <y>, <z>)
b21.rotate(<rx>, <ry>, <rz>)

# define one or several communication interface, like 'socket'
b21.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.robots.b21.)