1. Pose Sensors – Detect Orientation
Robotics Beginner Course – 11
Young Joon Kim

2. Topics
Build basic environment
Detect Orientation of robot with VPL

3. Build Basic Environment

4. Pose Sensor Service Pose Sensor Service in VPL (Pose information)
Provides Position (x, y, z) of entity and robot
Provides Orientation (x, y, z)
Provides Velocity
Provides Acceleration
Provides LinearAcceleration and AngularAcceleration
Provides Distance
Provides LinearDisplacement and AngularDisplacement
Provides Interval

5. Build basic environment
Start with basic environment

6. Build basic environment
Add “AddLegoNXTTribot” command

7. Build basic environment
Change robot name with “lego1”

8. Build basic environment
Add “UpdateCameraView” command

9. Build basic environment
Change the value of “/EyePosition:” as follows
/EyePosition:

10. Build basic environment
Add “FlushScript” command

11. Build basic environment
Save the script with the name of “script/Pose3.txt”

12. Build basic environment
Executed result

13. Detect Orientation of robot with VPL

14. Detect Orientation of robot with VPL
Build diagram to load basic sim environment

15. Detect Orientation of robot with VPL
Add diagram to make robot turn around

16. Detect Orientation of robot with VPL
Add a “Data” activity and “SPL Pose Sensors”
Connect “Data” and “SPLPoseSensors”

17. Detect Orientation of robot with VPL
Choose “PoseSubscribe”
Choose “value”

18. Detect Orientation of robot with VPL
Copy & Paste “SPLPoseSensors”
Copy & Paste

19. Detect Orientation of robot with VPL
Add “Calculate” and “HelloAppsConsole” service

20. Detect Orientation of robot with VPL
Choose “PoseNotify”

21. Detect Orientation of robot with VPL
Choose “Orientation” from the list

22. Detect Orientation of robot with VPL
Add “.”
Choose “X” from the list

23. Detect Orientation of robot with VPL
Complete the expression of “Calculate” as follows
Orientation.X + " / " + Orientation.Y + " / " + Orientation.Z

24. Detect Orientation of robot with VPL
Connect “Calculate” and “Console”

25. Detect Orientation of robot with VPL
Save and execute diagram

26. Detect Orientation of robot with VPL
Executed result