morse.builder.robots package

Submodules

morse.builder.robots.human module

class Human(filename='human', name=None)

Bases: morse.builder.morsebuilder.GroundRobot

Append a human model to the scene.

The human model currently available in MORSE comes with its own subjective camera and several features for object manipulation.

It also exposes a human posture component that can be accessed by the armature member.

Usage example:

#! /usr/bin/env morseexec

from morse.builder import *

human = Human()
human.translate(x=5.5, y=-3.2, z=0.0)
human.rotate(z=-3.0)

human.armature.add_stream('pocolibs')

Currently, only one human per simulation is supported.

add_interface(interface)

after_renaming()

disable_keyboard_control()

use_world_camera()

morse.builder.robots.morserobots module

class ATRV(name=None)

Bases: morse.builder.morsebuilder.GroundRobot

class B21(name=None)

Bases: morse.builder.morsebuilder.GroundRobot

class FakeRobot(name=None)

Bases: morse.builder.morsebuilder.Robot

class Hummer(name=None)

Bases: morse.builder.morsebuilder.GroundRobot

class Jido(name=None)

Bases: morse.builder.morsebuilder.GroundRobot

class Morsy(name=None)

Bases: morse.builder.morsebuilder.GroundRobot

set_color(color=(0.0, 0.0, 0.8))

Allows to change Morsy’s body color.

class PatrolBot(name=None)

Bases: morse.builder.morsebuilder.WheeledRobot

class Pioneer3DX(name=None)

Bases: morse.builder.morsebuilder.WheeledRobot

class QUAD2012(name=None)

Bases: morse.builder.morsebuilder.Robot

class Quadrotor(name=None)

Bases: morse.builder.morsebuilder.Robot

class RMax(name=None)

Bases: morse.builder.morsebuilder.Robot

class SegwayRMP400(name=None)

Bases: morse.builder.morsebuilder.WheeledRobot

class Submarine(name=None)

Bases: morse.builder.morsebuilder.Robot

class Victim(name=None)

Bases: morse.builder.morsebuilder.GroundRobot

morse.builder.robots.pr2 module

class BarePR2(name=None)

Bases: morse.builder.morsebuilder.GroundRobot

A PR2 model, without any sensor or actuator.

set_color(color=(0.0, 0.0, 0.8))

Allows to change the PR2 head color.

class BasePR2(name=None)

Bases: morse.builder.robots.pr2.BarePR2

A PR2 only equipped with its armatures for the arms, the torso and the head.

It also provides the compound sensor pr2.joint_state that exports the whole joint state of the robot.

add_interface(interface)

class LocalizedPR2(name=None, with_keyboard=True, show_laser=False)

Bases: morse.builder.robots.pr2.BasePR2

add_interface(interface)

class NavPR2(name=None, with_keyboard=True, show_laser=False)

Bases: morse.builder.robots.pr2.BasePR2

A PR2 equipped with sensors and actuators required for 2D navigation.

add_interface(interface)

Module contents