Created
February 27, 2012 05:29
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Morse Segway with motion controller v2
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| from morse.builder import * | |
| # Add the Segway RMP 400 | |
| robot = Robot('segwayrmp400') | |
| # Add a motion controler (v,w) | |
| motion = Actuator('v_omega') | |
| motion.name = 'cmd_vel' | |
| 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, x = 2) | |
| # Remove the wheels for Bullet | |
| #robot.remove_wheels() -> no need to call it here, see: Robot.__del__() | |
| # Configure the middlewares | |
| motion.configure_mw('ros') | |
| # Select the environement | |
| env = Environment('indoors-1/indoor-1') | |
| env.aim_camera([1.0470, 0, 0.7854]) |
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