The setup and configuration of a simulation scenario in MORSE is completely done using the Blender interface. It is very particular and different from almost any other computer program available. Follow this link for good tutorial on the use of Blender’s interface. Here we present the most useful commands necessary to operate MORSE.
Note
The Blender interface is divided in various panels (windows). The mouse and keyboard shortcuts used change depending on the panel over which the mouse pointer is located. All the following commands are valid for when the mouse pointer is located inside the 3D View panel.
Right Mouse Click over the object
Pressing a will toggle selection of all or none of the objects in the current scene.
To enter exact transformation values with the keyboard, press N to display the Transform Properties sub-window of the selected object. Then change the values of the Location, Rotation or Scale fields.
The shortcut keys are g for translation, s for scaling and r for rotation. Press the desired key, then adjust the values by moving the mouse. Press Left Mouse Click to accept transformation, or Right Mouse Click to cancel.
Tips:
Hold down Ctrl key while transforming, to use discrete intervals.
Hold down Shift key to make more precise transformations (mouse movements produce smaller changes)
to constraint the transformation on one axis.
Use the numeric keyboard:
The view of the scene can also be adjusted manually by holding down :MMB: and moving the mouse. Panning around the scene is done by holding down Shift key, holding the :MMB: and moving the mouse.
A simulation in MORSE is executed using the Game Engine mode of Blender. When in this mode, the button panels of Blender are disabled and the controls change. It is recommended to switch the Blender 3D View window to full screen before starting a simulation. Press Ctrl-Up when the mouse is over a window to toggle it to full screen and back.
The default MORSE scene, as well as most of the provides scenario files, contain an object called CameraFP. It allows the user to control the view of the scene during the simulation, using the mouse and keyboard, in the same way as First Person Shooter game. The camera can be moved around using:
The direction the camera points to is controlled with the mouse. Hold down the Ctrl key while moving the mouse.
It is possible to adjust the speed of the camera movement, by selecting the CameraFP object in the scene, and adjusting the game properties of the camera object: Sensitivity for the mouse, and Speed for the keyboard.
The following are key bindings already defined in any simulation scene
p key: start the simulation (initiate the Game Engine)
h key: show an on screen display with this list of keyboard functions
Esc key: stop and exit the simulation (cleaning up the connections)
This includes the cameras mounted on robots, as well as the default CameraFP
F11 key: reset all objects to their original position at the start of the simulation
Warning
There is a bug in the code, which will make any forces acting on an object be still active when the position is reset. This can cause an object to start rotating or moving without an apparent reason.
does not make the simulation finish (generally happens when the simulation could not properly initialise)
Note
If this doesn’t work either, switch to the command terminal where MORSE was started and type: Ctrl-\. This will kill Blender.
Use the ‘’morse’’ binary program, to open or create new simulation scenarios:
$ morse
Will create a new copy of the basic scenario file, ready to be modified.
$ morse create [Filename]
It will create a new file with the name given, and ready to be edited.
$ morse [Filename]
The MORSE simulator is started using an existing file with the name specified.
To use one of the available middleware bindings import/export data from the simulated actuators/sensors: