Read the configuration script (inside the .blend file) and assign the correct data modifiers to each component.
Close the open communication channels from middlewares Call the destructors of all component instances. This should also call the methods to close middlewares
Creation of a list of all the robots and components in the scene. Uses the properties of the objects to determine what they are.
General initialization of MORSE
Here, all components, modifiers and middlewares are initialized.
This method first loads the socket service manager, map the virtual ‘simulation’ component to it, loads any other request manager mapped to the ‘simulation’ component and register all simulation management services declared in morse.core.supervision_services
Read the configuration script (inside the .blend file) and assign the correct datastream and options to each component.
Read the configuration script (inside the .blend file) and assign the correct service handlers and options to each component.
Place all objects in the initial position
Restore the position and rotation of objects and robots to their original state, during the simulation.
Move the target of the head and camera
Use the movement of the mouse to determine the rotation for the human head and camera.
Get the movement of the mouse as an X, Y coordinate.
Read the keys for specific combinations that will make the camera move in 3D space.