1from morse.builder import *
2
3class @classname@(GroundRobot):
4    """
5    A template robot model for @name@, with a motion controller and a pose sensor.
6    """
7    def __init__(self, name = None, debug = True):
8
9        # @name@.blend is located in the data/robots directory
10        GroundRobot.__init__(self, '@env@/robots/@name@.blend', name)
11        self.properties(classpath = "@env@.robots.@name@.@classname@")
12
13        ###################################
14        # Actuators
15        ###################################
16
17
18        # (v,w) motion controller
19        # Check here the other available actuators:
20        # http://www.openrobots.org/morse/doc/stable/components_library.html#actuators
21        self.motion = MotionVW()
22        self.append(self.motion)
23
24        # Optionally allow to move the robot with the keyboard
25        if debug:
26            keyboard = Keyboard()
27            keyboard.properties(ControlType = 'Position')
28            self.append(keyboard)
29
30        ###################################
31        # Sensors
32        ###################################
33
34        self.pose = Pose()
35        self.append(self.pose)
36
37