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The Modular OpenRobots Simulation Engine
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cehberlin and severin-lemaignan Fixed a problem that occured with some blender environments, the actu…
…al reason is unclear.

However, the included simplification of the create_new_material() method solved the problem.

The original problem stack trace was the following:

Exception ignored in: <bound method Environment.__del__ of <morse.builder.environment.Environment object at 0x7f94cce4a908>>
Traceback (most recent call last):
  File "/usr/local/lib/python3/dist-packages/morse/builder/", line 831, in __del__
  File "/usr/local/lib/python3/dist-packages/morse/builder/", line 300, in create
  File "/usr/local/lib/python3/dist-packages/morse/builder/", line 290, in after_renaming
  File "/usr/local/lib/python3/dist-packages/morse/builder/", line 283, in create_laser_arc
    arc.active_material = self.get_ray_material()
  File "/usr/local/lib/python3/dist-packages/morse/builder/", line 186, in get_ray_material
    ray_material = bpymorse.create_new_material()
  File "/usr/local/lib/python3/dist-packages/morse/builder/", line 96, in create_new_material
    material_name = [name for name in get_materials().keys() \
IndexError: pop from empty list
Latest commit cc3547a Feb 21, 2018
Type Name Latest commit message Commit time
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.github Added an issue template Feb 18, 2016
addons [builder] fix few occurrences of removed method Oct 15, 2014
bin Fixed typo in main Jan 16, 2018
bindings [pymorse] Stream port must be integer Jun 30, 2016
config [cmake] python 3.5 exists since September 2015 Jan 4, 2016
data [core/wheeled_robot] Make them use the same frame than other robot Feb 12, 2016
doc CI - enabled Appveyor tests Jan 21, 2019
examples [examples] moos-lidar tutorial was missing setting for global lat/lon… Feb 22, 2017
src Fixed a problem that occured with some blender environments, the actu… Jun 18, 2019
testing [mw/ros] don't explicitly set logger level to DEBUG (see #771) Dec 6, 2017
tools [human] Removes all the code and support for the legacy human avatar Jan 8, 2016
.gitignore [git] dont ignore cmake files +visible in editor Aug 23, 2016
.mailmap Update .mailmap Apr 19, 2016
.travis.bash [travis] Upgrade the architecture for trusty Oct 21, 2015
.travis.yml [travis] Upgrade the architecture for trusty Oct 21, 2015
AUTHORS [doc] Fix several typos in credits Feb 4, 2016
CITATION [doc] Added a CITATION file Sep 9, 2013
CMakeLists.txt Build - fixed Windows compatibility and added build script Dec 14, 2018
INSTALL Build - tests now run on Windows Dec 18, 2018
LICENSE [doc] Update copyright Feb 5, 2016
OFL.LICENSE [doc] Document which files are not licensied under BSD-3 clause Apr 23, 2013 CI - added documentation for Windows installers and Appveyor Jan 21, 2019
RELEASE_NOTES CI - added documentation for Windows installers and Appveyor Jan 21, 2019
appveyor.yml CI - patch for broken pip release Feb 4, 2019
morse-windows.spec CI: Added Windows builds via Appveyor Jan 21, 2019
morse.iss CI - enabled Appveyor tests Jan 21, 2019
winbuild.bat Build - tests now run on Windows Dec 18, 2018

MORSE logo

MORSE: the Modular Open Robots Simulator Engine

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MORSE screenshot 1

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
  • HLA
  • mavlink
  • 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.

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How to contribute

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 and ask!

Code is available on GitHub.

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


Copyright (c) 2009-2010 ONERA Copyright (c) 2009-2016 LAAS-CNRS Copyright (c) 2015-2016 ISAE-SUPAERO Copyright held by the MORSE authors or the institutions employing them, refer to the AUTHORS file for the list. The list of the contributors to each file can be obtained from the commit history ('git log ').

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

MORSE contributors

The initial development of MORSE has been partially funded by the Fondation RTRA within the ROSACE project framework, and by DGA through the ACTION project.

MORSE screenshot 2

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