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⚠️ As of 2020, MORSE is not maintained/updated anymore. The code will remain available for the foreseeable future for adventurous researchers and/or archeologists, but do not expect much support! ⚠️

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)

Installation

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

Documentation

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.

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 morse-dev@laas.fr and ask!

Code is available on GitHub.

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

Credits

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 http://www.defense.gouv.fr/dga through the ACTION http://action.onera.fr project.

MORSE screenshot 2