Created
November 11, 2011 04:56
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Morse Segway with motion controller
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from morse.builder.morsebuilder import * | |
environment = 'indoors-1/indoor-1' # indoor | |
# in case you launche this script with a .blend file | |
if len(bpy.data.objects) > 0: | |
environment = None | |
# Append ATRV robot to the scene | |
robot = Robot('segwayrmp400') | |
# Append an actuator | |
motion = Actuator('v_omega') | |
motion.translate(z = 0.3) | |
robot.append(motion) | |
motion.properties(Class="VWDiffDriveActuatorClass", Path="morse/actuators/v_omega_diff_drive") | |
robot.properties(Class="SegwayRMP400PhysicsClass", Path="morse/robots/segwayrmp400") | |
robot.translate(z = 0.2) | |
# Configure the middlewares | |
motion.configure_mw('ros') | |
# Select the environement | |
env = Environment(environment) | |
env.aim_camera([1.0470, 0, 0.7854]) |
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