PR2 robot
=========

.. image:: ../../../media/robots/pr2.png
  :align: center
  :width: 600


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

The PR2 uses the :doc:`armature_actuator <../actuators/armature>`
for control of the armatures.

Model Info
----------

The model is imported from a Collada file that is generated from the
`PR2 URDF file  <http://www.ros.org/wiki/pr2_description>`_.
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
----

- Create sensors and actuators to control the PR2 armature. `A
  SensorActuator class would be handy for this
  <https://sympa.laas.fr/sympa/arc/morse-users/2011-07/msg00099.html>`_.
- Expand the armature to include the hands.
- Add an actuator to control the movement of the PR2 base.
- ROS integration.
- ...



.. cssclass:: properties morse-section

Configuration parameters for PR2 robot
--------------------------------------


You can :

- set the mass of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_mass()`
- set the friction coefficient of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_friction()`


You can set these properties in your scripts with ``<component>.properties(<property1>=..., <property2>=...)``.

- ``NoGravity`` (bool, default: ``False``)
	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 
- ``GroundRobot`` (bool, default: ``False``)
	Indicate if the robot is a ground robot, i.e.                   basically if it has no way to control its position on the                   Z axis, nor this X and Y rotation axis


.. cssclass:: services morse-section

Services for PR2 robot
----------------------

- ``get_properties()`` (blocking)
    Returns the properties of a component.
    
    
  - Return value

    a dictionary of the current component's properties  

- ``get_torso()`` (blocking)
    Returns the z-translation of the torso.
    
- ``grasp(grab, obj_name)`` (blocking)
    Grasp near object.
    
    
  - Parameters

    - ``grab``: set to True to take an object and False to release it.
    - ``obj_name``: when None, the robot will just grasp the nearest                  object without any consideration for the object name.

- ``get_configurations()`` (blocking)
    Returns the configurations of a component (parsed from the properties).
    
    
  - Return value

    a dictionary of the current component's configurations  

- ``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_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.
    
- ``set_property(prop_name, prop_val)`` (blocking)
    Modify one property on a component
    
    
  - Parameters

    - ``prop_name``: the name of the property to modify (as shown the documentation)
    - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful

  - Return value

    nothing 



.. cssclass:: examples morse-section

Examples
--------


The following examples show how to use this component in a *Builder* script:

.. code-block:: python


    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')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/robots/pr2.html>`_
- `Unit-test <../../_modules/base/pr2_testing.html>`_




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