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 orignal 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.
A sample python script of how to access the PR2 services via sockets can be found at: $MORSE_ROOT/examples/morse/scenarii/armature_samples/pr2_services_tests.py.
Use the Properties >> Physics panel in Blender to adjust the Mass of the robot.
The friction coefficient of the robot can be adjusted in the Properties >> Material panel.