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A web client for the Modular OpenRobots Simulation Engine (MORSE)

Python 92.95% CSS 0.16% HTML 0.70% JavaScript 6.19%

morseweb's Introduction

morseweb

morseweb is a WebGL client for MORSE. It's a front-end graphical interface to the simulator and provides visualization of the simulation from a web browser. This means cross-platform support (including mobile devices) and minimal client-side dependencies.

Dependencies

MORSE 1.4
Redis
Xvfb and LLVMpipe (for launching MORSE in headless mode)

Instalation

morseweb is installed on the server-side. Once the server is set up and running, clients can watch the simulation by accessing the server's URL on a web browser.

Clone the repo wherever you want and install the requirements.

$ pip install -r requirements.txt

If you are using virtualenv or conda you will have to make pymorse available to your environment.

$ ln -s /path/to/python/dist-packages/pymorse /path /to/your/environment/lib/python3.5/site-packages

Finally, follow these instructions if you want to run MORSE in headless mode.

Launching the Simulation

Import the examplesim simulation into MORSE

$ morse import examplesim

and set the environment variables¹ where MORSE will be looking for components:

$ export MORSE_ROOT="/usr"
$ export MORSE_RESOURCE_PATH="/path/number/one:/path/number/two"

Regular Mode

Open two terminals. In the first one run:

$ redis-server &
$ multinode_server &
$ morse run --name nodeA examplesim

And in the second one:

$ python runserver.py

Headless Mode

Open two terminals. In the first one run:

$ redis-server &
$ Xvfb -screen 0 100x100x24 :1 &
$ multinode_server &
$ export LD_LIBRARY_PATH=/path/to/mesa-11.0.7/build/linux-x86_64/gallium/targets/libgl-xlib
$ export DISPLAY=:1
$ morse run --name nodeA examplesim

And in the second one:

$ python runserver.py

Watching the Simulation

Open a browser and point it to where your server is running, e.g. example-server.com:8080. You should see the empty environment with an ATVR robot and two SmallTable objects.

Loading Passive Objects

If you want to load passive objects into a scene you should set the name of the object exactly as the name of the model you're loading:

table = PassiveObject("props/objects", "SmallTable")
table.name = "SmallTable"
table.translate(2, 2, 0)
table.rotate(z=0.7)

Caveats

morseweb depends on multi-node mode of MORSE to track the state of the simulation.
Only one material per mesh is allowed in the models (see discussion here). But this should be fixed in future releases (see this and this).

Resources

1 MORSE_ROOT may be different if you installed MORSE in a custom location. ↩

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pierrickkoch pesouza

morseweb's Issues

The positions of some robots are not updated

In a multi-robot simulation some of the robots stay at the origin, and their positions are not updated.

Display messages from the simulation

Add a way to show messages from the running simulation scripts into the web interface. May be useful to display simulation progress, for example.

Remove ExtraServices dependency

1 fakerobot.extra.get_camera_position, to get the camera position.
2 fakerobot.extra.get_environment, to get the name of the environment the simulation is running on.
3 fakerobot.extra.get_start_time, to get the time the simulation started.

1 is provided in 1.3 as supervision_services.get_camarafp_position.
2 will be provided in 1.4 in supervision_services.details through the field environment.
3 will be provided in 1.4 in the multinode message through the entry __time. It is a list containing simulation_time, simulation_dt, and real_time.

Here is the pull request addressing these changes in MORSE.

Export single object from .blend file

Is it possible to export a single object from a Blender scene using the export tool?

Can't locate JSON model of custom environment

When loading a custom environment, e.g.: Environment("mysim/envs/arena.blend"), morseweb can't locate its exported model inside morseweb/web/models. It seems it's trying to find a model called mysim/envs/arena.blend.json instead of just arena.json.

multinode_server import error

Hi!
I just started using MORSE today, so excuse me for my total noobness. I followed the tutorial on MORSE website to get it to run in headless mode, and it seems to work, but when I try to run the multinode_server before starting the web interface I get this error:

Traceback (most recent call last):
  File "/usr/local/bin/multinode_server", line 30, in <module>
    from pymorse.stream import StreamJSON, PollThread
ImportError: cannot import name 'PollThread'

Any idea how to fix it?
Thanks!