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:

Services for Orientation Actuator

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • 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 *

robot = ATRV()

# 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.)

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