I was happy to discover that Bluzio [?] posted, in the Robots y modelos blog, very detailed instructions on how you can be:
This blog post contains a detailed example on how to use Papyrus-RT in robotic applications! It discuss everything from the hardware used (based on the PolarSys Rover) to the software generated with Papyrus-RT.
If you are into robots and open source software, you must go and read that post!
Bluzio, I hope you will read this blog and let me know who you are so you, and your university, can be publicly thanked for your work!
UPDATE: Thank you to Antonio Garcia-Dominguez from Aston University‘s School of Engineering & Applied Science for all this material!