.\" Man page generated from reStructuredText.
.
.
.nr rst2man-indent-level 0
.
.de1 rstReportMargin
\\$1 \\n[an-margin]
level \\n[rst2man-indent-level]
level margin: \\n[rst2man-indent\\n[rst2man-indent-level]]
-
\\n[rst2man-indent0]
\\n[rst2man-indent1]
\\n[rst2man-indent2]
..
.de1 INDENT
.\" .rstReportMargin pre:
. RS \\$1
. nr rst2man-indent\\n[rst2man-indent-level] \\n[an-margin]
. nr rst2man-indent-level +1
.\" .rstReportMargin post:
..
.de UNINDENT
. RE
.\" indent \\n[an-margin]
.\" old: \\n[rst2man-indent\\n[rst2man-indent-level]]
.nr rst2man-indent-level -1
.\" new: \\n[rst2man-indent\\n[rst2man-indent-level]]
.in \\n[rst2man-indent\\n[rst2man-indent-level]]u
..
.TH "MORSE" "1" "Feb 06, 2023" "1.4" "MORSE"
.SH NAME
morse \- A robotics simulator based upon the Blender Game Engine
.SH SYNOPSIS
.sp
\fBmorse\fP [\-h] [\-c] [\-\-reverse\-color] [\-v] {create,rm,add,check,run,edit} ...
.SH DESCRIPTION
.sp
MORSE, the Modular OpenRobots Simulation Engine, is a general\-purpose robotics
simulator, primarily intended for an academic audience.
.sp
It relies on the Blender Game Engine to provide a semi\-realistic 3D
environment with physics simulation.
.sp
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.
.SH OPTIONS
.sp
These options apply to any MORSE command.
.INDENT 0.0
.TP
.B \-c, \-\-color
Uses colors for MORSE output. The default color scheme is well
adapted to terminals with a dark background.
.TP
.B \-\-reverse\-color
Uses an alternate color theme for MORSE output, well adapted to
terminals with a bright background.
.TP
.B \-h, \-\-help
Displays information regarding the program use.
.TP
.B \-\-version
Displays the version number.
.UNINDENT
.SH COMMANDS
.sp
See \(dqman morse\-<command>\(dq for a documentation of each commands.
.INDENT 0.0
.TP
.B add
Adds templates for a new component (sensor, actuator, robot)
to an existing simulation environment.
.TP
.B check
Checks the environment is correctly setup to run morse.
.TP
.B create
Creates a new simulation environment in the current directory.
A template simulation scene is also created.
The environment is added to \(aqsites\(aq in ~/.morse/config
.TP
.B edit
Open the given Blender scene or Python script in the Blender
interface for edition. The simulation can be started by
pressing P.
.TP
.B import
Imports a pre\-existing simulation as a new simulation environment.
.TP
.B rm
Deletes an existing simulation environment.
.TP
.B run
Runs a simulation (must be a Python script) without loading
the Blender interface.
.UNINDENT
.SH FILES
.sp
Configuration files are stored in each user $HOME/.morse
.INDENT 0.0
.TP
.B config
General MORSE configuration.
Section \(aqsites\(aq contains the list of simulation environments
MORSE will look for at startup.
.UNINDENT
.SH ENVIRONMENT
.INDENT 0.0
.TP
.B MORSE_ROOT
Use this variable to determine where are localised data. This
variable is mandatory
.TP
.B MORSE_BLENDER
Determine which blender binary is started. If it does not exist,
rely on the first blender in the PATH
.TP
.B MORSE_RESOURCE_PATH
Determine where morse will search for blender components. It is a
colon\-separated list of directories, similar to PATH.
.TP
.B 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.
.TP
.B MORSE_SILENT_PYTHON_CHECK
Do not restrict matching system vs. Blender Python version. Use at
your own risk.
.UNINDENT
.sp
Morse relying on Python to execute itself, the run of Morse is influenced by
all Python variables, in particular \fBPYTHONPATH\fP\&. See \fBpython(1)\fP for
details.
.SH SEE ALSO
.sp
\fBmorseexec(1)\fP \fBblender(1)\fP \fBpython(1)\fP
.SH COPYRIGHT
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>').
.\" Generated by docutils manpage writer.
.