This package contains the robot model that is used by the realtime
manager. This robot model focuses on controlling the robot
mechanism in a realtime control loop, and therefore it only contains
the components of a robot that are relevant in realtime: the robot
joints (with encoders, transmisisons and actuators) and the
kinematic/dynamic model of the robot.
The pr2_mechanism_model package is well tested and is released with a stable API.
PR2 Mechanism Model
The C++ API