Source code for morse.robots.pr2
import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.robot
from morse.core.services import service
[docs]class PR2Class(morse.core.robot.Robot):
"""
Class definition for the PR2.
Sub class of Morse_Object.
This class has many MORSE Services that you can access via sockets/telnet.
"""
def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
super(self.__class__,self).__init__(obj, parent)
self.armatures = []
# Search armatures and torso in all objects parented to the pr2 empty
for obj in self.bge_object.childrenRecursive:
# Check if obj is an armature
if type(obj).__name__ == 'BL_ArmatureObject':
self.armatures.append(obj.name)
if obj.name == 'torso_lift_joint':
self.torso = obj
# constant that holds the original height of the torso from the ground
# These values come from the pr2 urdf file
self.TORSO_BASE_HEIGHT = (0.739675 + 0.051)
self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion
self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation
logger.info('Component initialized')
@service
[docs] def get_armatures(self):
"""
MORSE Service that returns a list of all the armatures on the PR2 robot.
"""
return self.armatures
@service
[docs] def set_torso(self, height):
"""
MORSE Service that sets the z-translation of the torso to original_z + height.
"""
if self.TORSO_LOWER < height < self.TORSO_UPPER:
self.torso.localPosition = [-0.05, 0, self.TORSO_BASE_HEIGHT + height]
return "New torso z position: " + str(self.torso.localPosition[2])
else:
return "Not a valid height, value has to be between 0.0 and 0.31!"
@service
[docs] def get_torso(self):
"""
MORSE Service that returns the z-translation of the torso.
"""
return self.torso.localPosition[2] - self.TORSO_BASE_HEIGHT
@service
[docs] def get_torso_minmax(self):
"""
MORSE Service that returns the minimum an maximum z-translation that the torso can make from the base.
Returns a list [min,max]
"""
return [self.TORSO_LOWER, self.TORSO_UPPER]
[docs] def default_action(self):
"""
Main function of this component.
"""
pass