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.
Bases: morse.builder.morsebuilder.GroundRobot
A PR2 model, without any sensor or actuator.
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.
Bases: morse.builder.robots.pr2.BasePR2
A PR2 equipped with sensors and actuators required for 2D navigation.