ACT R 3 D A 3 D Simulation Environment for Python ACT R
In this paper I describe an implementation of a timesynchronous middleware for Python ACT R and the opensource robotics simulator, MORSE (Echeverria et al. 2012; Echeverria, Lassabe, Degroote, Lemaignan, 2011) an updated vision system, and an updated motor system, which I collectively call ACT R 3D. A new vision system and a crude body model robot was added to the MORSE system to facilitate modelling of affordance based research on aperture passage (walking through apertures and rotating shoulders as needed) Initial experimental results of shoulder rotation are presented as a proof of concept