PR2 robot

../../_images/pr2.png

The MORSE model of the Willow Garage’s PR2 robot.

The PR2 uses the armature_actuator for control of the armatures.

Model Info

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.

TODO

Configuration parameters for pr2 robot

You can :

No configurable parameter.

Services for PR2 robot

  • get_torso_minmax() (blocking)

    Returns the minimum an maximum z-translation that the torso can make from the base. Returns a list [min,max]

  • get_torso() (blocking)

    Returns the z-translation of the torso.

  • get_armatures() (blocking)

    Returns a list of all the armatures on the PR2 robot.

  • set_torso() (blocking)

    MORSE Service that sets the z-translation of the torso to original_z + height.

  • grasp_() (blocking)

    Grasp object

Examples

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')

Other sources of examples

(This page has been auto-generated from MORSE module morse.robots.pr2.)

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