Simple definition of the RMP400 platform distributed by Segway.
This robot uses the Physics Constraints in Blender to allow the wheels to behave more realistically. The wheels turn as the robot moves, and they have Rigid Body physics, so that they can also have collisions with nearby objects.
It has four differential drive wheels, with the pairs of wheels on each side always moving at the same speed. Since the wheels of this robot use the Rigid Body physics, it must be controlled with the v_omega_diff_drive actuator.
You can :
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
Determine if the underlaying robot has suspension, i.e. wheels can move independently of the body of the robot
Determine if the wheels turn independently of the body of the robot.
Overwrite the value of the distance between wheels in the computations of the wheel speeds. This effectively changes the turning speed of the robot, and can be used to compensate for the slip of the wheels while turning. The real distance between wheels in the robot is 0.624m. By forcing a distance of 1.23m, the robot will turn over a smaller radius, as would a two wheeled differential drive robot. If the value 0.0 is used, the real distance between wheels is used.
This component does not expose any service.
The following example shows how to use this component in a Builder script:
from morse.builder import *
# creates a new instance of the robot
segwayrmp400 = SegwayRMP400()
# place your component at the correct location
segwayrmp400.translate(<x>, <y>, <z>)
segwayrmp400.rotate(<rx>, <ry>, <rz>)
# define one or several communication interface, like 'socket'
segwayrmp400.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.robots.segwayrmp400.)