MORSE (Modular OpenRobots Simulation Engine) is an academic robotic simulator, based on the Blender Game Engine and the Bullet Physics engine. It is a BSD-licensed project (cf LICENSE).

It is meant to be versatile (simulation of field robotics, indoor robotics, human robot interaction, multi-robots systems) and allow simulation at different levels (from raw cameras to high-level semantics).

The communication with the simulator is middleware independent. At the moment, MORSE supports the following middlewares:

• ROS
• Yarp
• pocolibs
• MOOS
• and a generic socket interface (with an intuitive Python API)

Please read INSTALL or check the on-line installation instructions.

The MORSE documentation is available from the doc/ directory. It is available as well online, on the MORSE website.

You can also subscribe to morse-users@laas.fr.

Even if the code-base is not stabilized yet, contribution to MORSE are more than welcome.

You can contribute new robot models, new sensors, we have a TODO list for the Blender game engine itself...

Feel free to subscribe to morse-dev@laas.fr and ask!

Code is available on GitHub.

Feel free to fork, pull request or submit issues to improve the project!

(c) LAAS-CNRS/ONERA 2009-2010 LAAS-CNRS 2011-2015

MORSE is developped by a large community of academics, with contributions from more that 15 universities world-wide.

The initial development of MORSE has been partially funded by the Fondation RTRA within the ROSACE project framework, and by DGA http://www.defense.gouv.fr/dga through the ACTION http://action.onera.fr project.