RWI B21 platform
================

.. image:: ../../../media/robots/b21.png
  :align: center
  :width: 600


Definition for the B21 platform, distributed by RWI. This
cylindrical robot for Human-Robot interactions.


.. cssclass:: properties morse-section

Configuration parameters for rwi b21 platform
---------------------------------------------


You can :

- set the mass of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_mass()`
- set the friction coefficient of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_friction()`

*No configurable parameter.*

.. cssclass:: services morse-section

Services for RWI B21 platform
-----------------------------

*This component does not expose any service.*

.. cssclass:: examples morse-section

Examples
--------


The following example shows how to use this component in a *Builder* script:

.. code-block:: python


    from morse.builder import *
    
    # creates a new instance of the robot
    b21 = B21()

    # place your component at the correct location
    b21.translate(<x>, <y>, <z>)
    b21.rotate(<rx>, <ry>, <rz>)
    
    # define one or several communication interface, like 'socket'
    b21.add_interface(<interface>)

    env = Environment('empty')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/robots/b21.html>`_
- `Unit-test <../../_modules/base/b21_testing.html>`_




*(This page has been auto-generated from MORSE module morse.robots.b21.)*
