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.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
If set to true the inputs are applied in the Robot coordinate frame instead of the actuator frame.
This actuator reads these datafields at each simulation step:
force along x, y, z
torque around x, y, z
Interface support:
Returns the properties of a component.
Return value
a dictionary of the current component’s properties
Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
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
forcetorque = ForceTorque()
# place your component at the correct location
forcetorque.translate(<x>, <y>, <z>)
forcetorque.rotate(<rx>, <ry>, <rz>)
robot.append(forcetorque)
# define one or several communication interface, like 'socket'
forcetorque.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.actuators.force_torque.)