robots Package

atrv Module

class ATRVClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the ATRV (DALA). Sub class of Morse_Object.

default_action()[source]

Main function of this component.

b21 Module

class B21Class(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the RWI B21. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

environment Module

class EnvironmentClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for a “virtual” robot.

This robot class does not have a graphical representation, and it can not move. Its only purpose is to be the parent of sensors that do not really belong to a robot, that is, standalone sensors. Since all sensors need to be parented to a robot. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

human Module

class HumanClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the human as a robot entity Sub class of Morse_Object.

default_action()[source]

Main function of this component.

grasp_(seq)[source]

Grasp object.

move(speed, rotation)[source]

Move the human.

move_hand(diff, tilt)[source]

move the human hand (wheel). a request to use by a socket. Done for wiimote remote control.

move_head(pan, tilt)[source]

Move the human head.

toggle_manipulation()[source]

change from and to manipulation mode. a request to use by a socket. Done for wiimote remote control.

hummer Module

class HummerClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the Hummer. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

jido Module

class JidoClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the Jido robot.

Sub class of Morse_Object.

default_action()[source]

Main function of this component.

mocap_human Module

class MocapHumanClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the human avatar as a robot entity Sub class of Morse_Object. This human is set to be controlled using data from an Xtion/Kinect sensor

default_action()[source]

Main function of this component.

grasp_(seq)[source]

Grasp object.

move(speed, rotation)[source]

Move the human.

move_hand(diff, tilt)[source]

move the human hand (wheel). a request to use by a socket. Done for wiimote remote control.

move_head(pan, tilt)[source]

Move the human head.

switch_cameras()[source]

Change between the main camera view in MORSE and the first person camera

toggle_manipulation()[source]

Switch manipulation mode on and off. a request to use by a socket. Done for wiimote remote control.

pioneer3dx Module

class Pioneer3DXClass(obj, parent=None)[source]

Bases: morse.core.wheeled_robot.MorsePhysicsRobotClass

Class definition for the Pioneer 3DX base. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

pr2 Module

class PR2Class(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the PR2. Sub class of Morse_Object.

This class has many MORSE Services that you can access via sockets/telnet.

default_action()[source]

Main function of this component.

get_armatures()[source]

MORSE Service that returns a list of all the armatures on the PR2 robot.

get_torso()[source]

MORSE Service that returns the z-translation of the torso.

get_torso_minmax()[source]

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

set_torso(height)[source]

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

quadrotor Module

class QuadrotorClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the Quad2012 (Club Micro Drone ISAE-Toulouse FRANCE). Sub class of Morse_Object.

default_action()[source]

Main function of this component.

quadrotor_dynamic Module

class QuadrotorClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for a simple quadrotor. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

rmax Module

class RmaxClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the Yamaha RMAX helicopter. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

segwayrmp400 Module

class SegwayRMP400PhysicsClass(obj, parent=None)[source]

Bases: morse.core.wheeled_robot.MorsePhysicsRobotClass

Class definition for the Segway RMP400 base. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

submarine Module

class SubmarineClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the Submarine. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

victim Module

class VictimClass(obj, parent=None)[source]

Bases: morse.core.robot.Robot

Class definition for the pseudo-robot that represents a human victim. Mainly used for the ROSACE rescue scenario. Sub class of Morse_Object.

default_action()[source]

Main function of this component.

heal()[source]

Change the status of the victim

Change the material to a green color, and the status to healed.