Sickle

from morse.builder import *

class Sickle(GroundRobot):
    """
    A template robot model for kuka, with a motion controller and a pose sensor.
    """
    def __init__(self, name = None, debug = True):

        # kuka.blend is located in the data/robots directory
        GroundRobot.__init__(self, 'mysim/data/mysim/robots/sickle.blend', name)
        self.properties(classpath = "mysim.robots.sickle.Sickle")

        # head
        self.arm = Armature(armature_name = "Armature")
        self.arm_pose = ArmaturePose()
        self.arm_pose.name = "pose"
        self.arm.append(self.arm_pose)

        self.append(self.arm)

    def add_interface(self, interface):
            if interface == "socket":
                self.arm.add_service('socket')
                # TODO Use a joint state publisher thing that PR2 uses?
                self.arm_pose.add_service('socket')