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 script
  • Unit-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)

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