Selecting/deselecting an object is done by right clicking on it use Shift + right click to select multiple objects.

Changing the viewing angle of the 3D environment is done by clicking and dragging the middle mouse button also try experimenting with holding down Ctrl, Shift, or Alt while doing this to perform different kinds of changes to the view.

Blender has a search menu which is activated by pressing Space you can then type the (partial) name of an action and select it from the list move the mouse away from the menu to cancel.

You can add and manipulate objects as you like to build, e.g., a course for a robot to move around in.įirst, here's a crash course in using Blender: This will be called the environment file, and has the file extension *.blend.

To get started, open Blender and save the fresh file under a name of your choice. We'll use Blender to construct the environment. The environment is the 3D model in which a planning problem is defined. If you would like to get to the planning phase immediately, you can start at the section Bounds configuration and planning, with ompl/demos/morse/rampjump_complete.blend as your environment file. If you would like to use a pre-designed demo environment instead of modeling your own the first time, start at the section Adding robot(s), with ompl/demos/morse/rampjump_starter.blend as your environment file. The next several sections will take you through this process from start to finish however, you may wish to jump in a little further down so you can see some results right away. Modeling and solving a planning problem is a multi-step process. Finally, you'll want to Save As Default so that it will always be enabled when Blender starts. Then enable this addon by clicking its check box. To install it, open Blender, navigate to File > User Preferences > Addons > Install addon. You'll find the add-on located at $ is equal to /usr/local). This version is included in the output of morse check.Īt the moment, there is one Python script that should be installed as a Blender add-on.

You should also take care to set the variables Boost_PYTHON_LIBRARY_DEBUG and Boost_PYTHON_LIBRARY_RELEASE to the exact Python 3 version of these libraries that is used by Morse. You may also need to install the Python3 libraries and headers if they aren't already (for example, on Ubuntu this is the python3-dev package).

Since Blender and MORSE require Python 3, it is essential you also use Python 3 for the OMPL python bindings: cmake -DPYTHON_EXEC=/usr/bin/python3. Second, follow the general instructions for installing OMPL with the Python bindings. You can check if this was successful by running morse check After doing so, you should have a working copy of both Blender and MORSE. First, you'll need to install MORSE (version 1.0 or later).

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