morse.builder.robots package¶
Submodules¶
morse.builder.robots.human module¶
-
class
Human
(filename='human', name=None)[source]¶ Bases:
morse.builder.morsebuilder.GroundRobot
Append a human model to the scene.
The human model currently available in MORSE comes with its own subjective camera and several features for object manipulation.
It also exposes a human posture component that can be accessed by the
armature
member.Usage example:
#! /usr/bin/env morseexec from morse.builder import * human = Human() human.translate(x=5.5, y=-3.2, z=0.0) human.rotate(z=-3.0) human.armature.add_stream('pocolibs')
Currently, only one human per simulation is supported.
morse.builder.robots.morserobots module¶
morse.builder.robots.pr2 module¶
-
class
BarePR2
(name=None)[source]¶ Bases:
morse.builder.morsebuilder.GroundRobot
A PR2 model, without any sensor or actuator.
-
class
BasePR2
(name=None)[source]¶ Bases:
morse.builder.robots.pr2.BarePR2
A PR2 only equipped with its armatures for the arms, the torso and the head.
It also provides the compound sensor
pr2.joint_state
that exports the whole joint state of the robot.
Bases:
morse.builder.robots.pr2.BasePR2
A PR2 equipped with sensors and actuators required for 2D navigation.