NAME

       morse - A robotics simulator based upon the Blender Game Engine

SYNOPSIS

       morse [-h] [-c] [--reverse-color] [-v] {create,rm,add,check,run,edit} ...

DESCRIPTION

       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.

OPTIONS

       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.

COMMANDS

       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.

FILES

       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.

ENVIRONMENT

       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.

SEE ALSO

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

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>').