What’s new in MORSE 0.5.x?¶
General¶
MORSE 0.5 requires Blender >= 2.59 and < 2.62 (because of some changes in the matrices handling - support for Blender >= 2.62 is expected for next release)
Lots of cleaning (middleware empties have been removed)
The command line
morse run {scene.blend|scene.py}
now works as expected (i.e., starts the simulation as soon as Blender opens). Optional arguments can be added and are passed to the scriptUnit-testing support for MORSE (cf doc: dev/testing). Added a target to the build file (‘make test’).
GUI¶
First version of a graphical user interface to add components to a scene
Plugin for loading DTM/IGN data has been ported to Blender 2.5/Python 3.2
Middlewares¶
Support of ROS services. Partial support for ROS actions (cf commit 02fda)
The long-standing issue with the socket server (bug #162) has been solved. It is now possible to listen to a socket stream without prior initialization.
Builder API¶
New export script (available as Blender add-on) to export a MORSE Blender scene to the MORSE Builder format.
Added support for multi-node configuration in the builder API
Added support for static, passive objects
Many examples and tutorials have been converted to the Builder API.
Components¶
Static objects have a redefined set of options to make them active or not, graspable or not, etc. See Passive objects)
New components that can be created from the Builder API, such as:
Infrared sensor
Battery sensor
Light switch actuator
Camera images can now be vertically flipped via the
vertical_flip
property
Multi-node¶
New abstract API for multi-node implementation. The current socket-based and HLA implementation now use it
This allows for having a single builder script to be used on all nodes. The configuration of each node is done using the environment variable
MORSE_NODE
HRI¶
Much work has been done in this domain:
New human avatar with a much improved behaviour/animation. It is controllable from mouse + keyboard or Kinect (experimental)
The avatar features a ‘manipulation mode’ where objects can be picked and dropped, and special objects like drawers and cupboards can be opened.
The human avatar can be easily added via the Builder API (instantiate the ‘Human’ class)