Orientation Actuator¶
An actuator to change instantly robot orientation.
Motion controller changing immediately the robot orientation.
This actuator reads the values of angles of rotation around the 3 axis and applies them to the associated robot. This rotation is applied instantly (not in a realist way). Angles are expected in radians.
Configuration parameters for Orientation Actuator¶
No configurable parameter.
Data fields¶
This actuator reads these datafields at each simulation step:
yaw
(float, initial value:Initial robot yaw
)Rotation of the robot around Z axis, in radian
pitch
(float, initial value:Initial robot pitch
)Rotation of the robot around Y axis, in radian
roll
(float, initial value:Initial robot roll
)Rotation of the robot around X axis, in radian
Interface support:
socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as yarp::Bottle (morse.middleware.yarp_datastream.YarpReader
)ros
as QuaternionReader (morse.middleware.ros.orientation.QuaternionReader
)
Services for Orientation Actuator¶
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
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
Examples¶
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
orientation = Orientation()
# place your component at the correct location
orientation.translate(<x>, <y>, <z>)
orientation.rotate(<rx>, <ry>, <rz>)
robot.append(orientation)
# define one or several communication interface, like 'socket'
orientation.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.orientation.)