The MORSE model of the Willow Garage’s PR2 robot.
The PR2 uses the armature_actuator for control of the armatures.
The model is imported from a Collada file that is generated from the PR2 URDF file. The .dae file can be found at: $MORSE_ROOT/data/robots/pr2/pr2.dae The imported .blend file can be found at: $MORSE_ROOT/data/robots/pr2/pr2_25_original.blend
The URDF to Collada converter changed all the object names, so these were remapped to the original URDF names. A renamed version of the PR2 model can be found at: $MORSE_ROOT/data/robots/pr2/pr2_25_rename.blend , this file includes the script that is used to rename all the objects.
A model with MORSE integration for the armature can be found at (This is the model that you probably want to use in MORSE): $MORSE_ROOT/data/robots/pr2/pr2_25_morse.blend.
You can :
No configurable parameter.
MORSE Service that sets the z-translation of the torso to original_z + height.
Returns the minimum an maximum z-translation that the torso can make from the base. Returns a list [min,max]
Returns the z-translation of the torso.
Returns a list of all the armatures on the PR2 robot.
Grasp object
The following example shows how to use this component in a Builder script:
from morse.builder import *
# creates a new instance of the robot
pr2 = PR2()
# place your component at the correct location
pr2.translate(<x>, <y>, <z>)
pr2.rotate(<rx>, <ry>, <rz>)
# define one or several communication interface, like 'socket'
pr2.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.robots.pr2.)