PierrickKoch

import bpy

'''
!!! discontinued Gist, merged in:
https://github.com/pierriko/proteus/blob/master/proteus.py
'''

MORSE_DATA = '/home/pierrick/work/morse/data/morse'
MORSE_COMPONENTS = MORSE_DATA + '/components'

PierrickKoch

#include <rtt/TaskContext.hpp>
#include <rtt/Port.hpp>
#include <geometry_msgs/Twist.h>
#include <ocl/Component.hpp>
#include <sensor_msgs/LaserScan.h>
#include <numeric>

using namespace std;
using namespace RTT;

PierrickKoch

package org.ros.tutorials.pubsub;

import org.apache.commons.logging.Log;
import org.ros.MessageListener;
import org.ros.Node;
import org.ros.NodeConfiguration;
import org.ros.NodeMain;
import org.ros.Subscriber;
import org.ros.Publisher;

PierrickKoch

from morse.builder.sensors import *
from morse.builder.actuators import *
from morse.builder.middlewares import *
from morse.builder.morsebuilder import *

# Append ATRV robot to the scene
atrv = Robot('atrv')

# Append an actuator
motion = MotionController()

PierrickKoch

#!/usr/bin/env python
"""
usage:
rosrun proteus_demo ImageView.py image:=/ATRV/CameraMain
"""
import roslib
roslib.load_manifest('rospy')
roslib.load_manifest('sensor_msgs')
import rospy
from sensor_msgs.msg import Image

PierrickKoch

import bpy

def setDefaultSpaceViewPort(viewport_shade='WIREFRAME'):
    """ setDefaultSpaceViewPort
    :param viewport_shade: enum in ['BOUNDBOX', 'WIREFRAME', 'SOLID', 'TEXTURED'], default 'WIREFRAME'
    :return: number of viewport_shade set; 0 if no 3D View in the current window
    """
    num_view = 0
    for area in bpy.context.window.screen.areas:
        if area.type == 'VIEW_3D':

PierrickKoch

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')

PierrickKoch

def diff_list(l1, l2):
    return [obj for obj in l1 if obj not in l2]

import bpy

def objects_names():
    return [obj.name for obj in bpy.data.objects]

def collada_importer(filepath):

PierrickKoch

"""
blender --background /usr/local/share/morse/data/morse_default.blend --python test.py
echo $?
"""

try:
    import morse
except ImportError:
    import os
    import sys

PierrickKoch

MORSE-builder API

Abstract

The idea is to allow user to write a simulation in few lines of Python, without having to learn Python (neither Blender). We want to give the ease of a DSL, without its technical complication.