morse (1)

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, 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 relying on Python to execute itself, the run of Morse is influenced by all Python variables, in particular PYTHONPATH. See python(1) for details.

morseexec(1) blender(1) python(1)

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