The MORSE user workflowΒΆ

The general steps to follow to do a simulation in MORSE are the following:

  1. Write a Python script with the description of the robot and scenario, using the Builder API. The file must specify:

    • The robots
    • The sensors and actuators
    • The middleware bindings
    • The environment properties
  2. Execute the builder script with morse:

    $ morse edit [file_name].py
  3. Save the new scene: Press F2 and enter a new name for the Blender file

  4. Initialise the middleware environments (ROS, YARP, Pocolibs, etc.) outside of Blender

  5. Start the simulation: Place your mouse inside the 3D view of Blender and press p

  6. Look at the terminal window to check that everything started correctly

  7. Start the client programs that will connect with the simulator, and carry out your simulation experiment

  8. Finish the simulation by pressing Esc

  9. Quit Blender by pressing Ctrl-q and Enter

  10. To repeat the simulation using the same settings, run morse directly with the Blender file:

    $ morse edit [file_name].blend

Previous topic

Supervision services

Next topic

Adding a new component

This Page