The Modular OpenRobots Simulation Engine
C Python Other
Latest commit 2573bfe May 9, 2016 @pierriko pierriko [bin] try to find blender on MacOS
it seems that blender is not in `which` on Mac OS.
[couldnt test myself]
fix #707 thanks to @gsubramani for testing.
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.github Added an issue template Feb 18, 2016
addons [builder] fix few occurrences of removed method Oct 15, 2014
bin [bin] try to find blender on MacOS Jun 30, 2016
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 [doc] Document more middleware addition Feb 8, 2016
examples [examples] fix cat tuto cameras clip n flip Mar 8, 2016
src [builder] add static physic type for robot Jun 30, 2016
testing [testing] Increase the coverage of velocity test Jun 17, 2016
tools [human] Removes all the code and support for the legacy human avatar Jan 8, 2016
.gitignore add scene.*blend and eclipse files to gitignore Apr 15, 2013
.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 [bin/morse_sync] Make sure to call it with the same python exec than … Feb 5, 2016
INSTALL [doc] Update copyright Feb 5, 2016
LICENSE [doc] Update copyright Feb 5, 2016
OFL.LICENSE [doc] Document which files are not licensied under BSD-3 clause Apr 23, 2013
README.md [readme] update zenodo link to 1.4 Mar 8, 2016
RELEASE_NOTES [doc] Document more middleware addition Feb 8, 2016

README.md

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)

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