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>').