morse - A robotics simulator based upon the Blender Game
Engine
morse [-h] [-c] [--reverse-color] [-v]
{create,rm,add,check,run,edit} ...
MORSE, the Modular OpenRobots Simulation Engine, is a
general-purpose robotics simulator, primarily intended for an academic
audience.
It relies on the Blender Game Engine to provide a semi-realistic
3D environment with physics simulation.
A robot and its environment are created in MORSE by building a
model in Blender. Actuator and sensor objects are attached to robot models,
and may be interacted with via a variety of middleware protocols.
Simulations can be programmed via Python scripts or inside of Blender
itself. Currently supported middleware includes YARP, MOOS, ROS, Pocolibs,
Mavlink, HLA as well as a plain socket interface.
These options apply to any MORSE command.
- -c, --color
- Uses colors for MORSE output. The default color scheme is well adapted to
terminals with a dark background.
- --reverse-color
- Uses an alternate color theme for MORSE output, well adapted to terminals
with a bright background.
- -h, --help
- Displays information regarding the program use.
- --version
- Displays the version number.
See "man morse-<command>" for a documentation of
each commands.
- add
- Adds templates for a new component (sensor, actuator, robot) to an
existing simulation environment.
- check
- Checks the environment is correctly setup to run morse.
- create
- Creates a new simulation environment in the current directory. A template
simulation scene is also created. The environment is added to 'sites' in
~/.morse/config
- edit
- Open the given Blender scene or Python script in the Blender interface for
edition. The simulation can be started by pressing P.
- import
- Imports a pre-existing simulation as a new simulation environment.
- rm
- Deletes an existing simulation environment.
- run
- Runs a simulation (must be a Python script) without loading the Blender
interface.
Configuration files are stored in each user $HOME/.morse
- config
- General MORSE configuration. Section 'sites' contains the list of
simulation environments MORSE will look for at startup.
- MORSE_ROOT
- Use this variable to determine where are localised data. This variable is
mandatory
- MORSE_BLENDER
- Determine which blender binary is started. If it does not exist, rely on
the first blender in the PATH
- MORSE_RESOURCE_PATH
- Determine where morse will search for blender components. It is a
colon-separated list of directories, similar to PATH.
- MORSE_NODE
- In multi-node mode, if no name has been given, look for this variable to
determine the name of the node. If it does not exist, rely on the name of
the host.
- MORSE_SILENT_PYTHON_CHECK
- Do not restrict matching system vs. Blender Python version. Use at your
own risk.
Morse relying on Python to execute itself, the run of Morse is
influenced by all Python variables, in particular PYTHONPATH. See
python(1) for details.
Copyright (c) 2009-2010 ONERA Copyright (c) 2009-2016 LAAS-CNRS
Copyright (c) 2015-2016 ISAE-SUPAERO Copyright held by the MORSE authors or
the institutions employing them, refer to the AUTHORS file for the list. The
list of the contributors to each file can be obtained from the commit
history ('git log <file>').