Morse Segway with motion controller

segway.py

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])