Robot proximity sensor

This sensor can be used to determine which other objects are within a certain radius of the sensor. It performs its test based only on distance. The type of tracked objects can be specified using the ‘Track’ property.

Files

  • Blender: $MORSE_ROOT/data/sensors/proximity.blend
  • Python: $MORSE_ROOT/src/morse/sensors/proximity.py

Local data

  • near_objects: (Dictionary) A list of the tracked objects located within the given radius. The keys of the dictionary are the object names, and the values are the distances (in meters) from the sensor.
  • near_robots: deprecated. Points to near_objects for compatibility sake.

Configurable parameters

The Empty object corresponding to this sensor has the following parameters:

  • Track: (String) The type of tracked objects. This type is looked for as a game property of scene objects. You must then add a new game property to the objects you want to be detected by the proximity sensor. Default is “Robot_Tag”.
  • Range: (Float) The distance, in meters beyond which this sensor is unable to locate other robots.

Services

  • set_range: (synchronous) the method expects a float range, and modify the range used to detect objects around the proximity sensor
  • set_tracked_tag: (synchronous) the method allows to modify the kind of objects detected by the proximity sensor.

Applicable modifiers

No proximity modifiers available at the moment

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