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 :
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
Indicate if we want to consider the gravity for this robot If true, the behaviour is less realistic as the simulator will automatically compensate it. This setting is useful for non-realistic model flying or submarine robot
Indicate if the robot is a ground robot, i.e. basically if it has no way to control its position on the Z axis
Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
Returns a list of all the armatures on the PR2 robot.
Returns the z-translation of the torso.
Returns the properties of a component.
Return value
a dictionary of the current component’s properties
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]
Grasp near object.
The following examples show 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.)