Skip to content
The Modular OpenRobots Simulation Engine
C Python Other
Failed to load latest commit information.
addons [builder] fix few occurrences of removed method
bin [bin/morse_sync] Make sure to call it with the same python exec than …
bindings [bindings] Prepare for 1.4
config [cmake] python 3.5 exists since September 2015
data [human] Removes all the code and support for the legacy human avatar
doc [doc] Document more middleware addition
examples [builder] Rename Environment.set_simulator_frequency in Environemnt.s…
src [mw/mavlink] Make sure to match only message of the 'good' type
testing [builder] Rename Environment.set_simulator_frequency in Environemnt.s…
tools [human] Removes all the code and support for the legacy human avatar
.gitignore add scene.*blend and eclipse files to gitignore
.mailmap Added a mailmap to group variants of dev emails
.travis.bash [travis] Upgrade the architecture for trusty
.travis.yml [travis] Upgrade the architecture for trusty
AUTHORS [doc] Fix several typos in credits
CITATION [doc] Added a CITATION file
CMakeLists.txt [bin/morse_sync] Make sure to call it with the same python exec than …
INSTALL [doc] Update copyright
LICENSE [doc] Update copyright
OFL.LICENSE [doc] Document which files are not licensied under BSD-3 clause [doc] Update copyright
RELEASE_NOTES [doc] Document more middleware addition

MORSE logo

MORSE: the Modular Open Robots Simulator Engine

DOI Build Status

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.

You can also subscribe to

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

Something went wrong with that request. Please try again.