Building an equipped robot

This tutorial provides instructions on how to create a Blender file for a robot prepared with a defined number of components, which can later be inserted into scenario files.

Warning

The preferred way of creating equipped robots is now using the Builder API. See the documentation on how to use it.

Setup of the robot file

Launch MORSE by typing morse, and erase all objects in the file:

  1. Press a to select all
  2. Press x and enter to delete

Save the file with a name that represents the settings of the robot. As an example this document will use the Ressac helicopter, so the name of the file should be something like: $MORSE_ROOT/share/morse/data/robots/myrobot_equiped.blend

  1. Press F2 to open the Save as dialog
  2. Navigate to the correct path and type the name of the file
  3. Press the Save File button

Next link in the base of the robot from the component library:

  1. With the mouse over the 3D view in Blender, press Ctrl-Alt-O to open the Load Library browser
  2. Navigate to the directory $MORSE_ROOT/morse/data/robots
  3. Press Left Mouse Click over the file ressac.blend
  4. Press Left Mouse Click over the item Object
  5. Press Right Mouse Click and drag over the names of all the objects listed, to select them all
  6. Press the button Link/Append from Library. You’ll return to the 3D View, and the newly added human is selected, but can not move around.
  7. Convert the objects to local: without de-selecting the object, press l then hit enter
  8. If you deselected the inserted objects in the scene, select it again either by Right Mouse Click clicking over the object in the 3D View, or Left Mouse Click over the object’s name in the Outliner panel. The object will be highlighted in cyan colour.
  9. Select as well the child objects, by pressing Shift-g, then hitting enter

The rest of the components (sensors and actuators) should be linked similarly. Refer to the tutorial about creating a scene in Blender for instructions. In the case of a robot file, no middlewares or modifiers should be added, since those would be specific to every particular scenario.

Adjust the properties of the component if necessary. Then save the file again, by pressing Ctrl-w, followed by enter.

This robot file should be liked into scenarii files by following the same procedure, while selecting all the objects contained in the file.

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