1What's new in MORSE 0.4.x? 2========================== 3 4The MORSE 0.4.x series has been code-named the ``multi-node release``. 5 6General changes 7--------------- 8- Full support for Blender 2.59 and Python 3.2. See the :doc:`updated installation instructions <../user/installation>`. 9- A new, reorganized, documentation. You are currently browsing it :-) 10 11Architectural changes 12--------------------- 13- Added infrastructure for :doc:`multi-node <../multinode>` functionality 14- New :doc:`Builder API <../user/builder>` to create scene from Python description. 15 This allows powerful programmable scene creation, much lighter scenario files, and 16 easier to track changes (since its a text format, instead of binary Blender files). 17- Changed directory structure and file names for ease of use of the Builder API. 18- Pervasive use the Python logging interface 19 20Middlewares 21----------- 22- Added support for multiple middleware bindings per component 23- Added support for services through Pocolibs middleware 24- ROS support for the robot's cameras 25- Added support for :doc:`HLA <../user/installation/mw/hla>` middleware 26- Added support for :doc:`MOOS <../user/installation/mw/moos>` middleware 27 28New components 29-------------- 30- Added a Hummer robot that implements the Blender Vehicle Wrapper 31- Added a ``steer_force`` actuator to control the Hummer robot 32- Added an ``armature_actuator`` to control the bone structure in the LWR and PR2 robot arms 33 34User interface 35-------------- 36- Add a help display with the keyboard shortcuts available during simulation. Activated by pressing the ``H`` key 37