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The Modular OpenRobots Simulation Engine
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addons [builder] fix few occurrences of removed method
bin [bin] Mark Morse OK with Blender 2.76
bindings [pymorse] Python2 does not have list.copy, use [:] instead
config [cmake] Adjust fakeenv for mavlink
data [environment] Updated 'sandbox' to set properties to objects
doc [mw/hla] Make the HLA lookahead configurable
examples [example] fix camera tutorial scipy
src [mw/hla] Make the HLA lookahead configurable
testing [coordinates] Prepare Morse to handle a transformation between blende…
tools [typo] fix 'received' typo in comments
.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] Add missing entry in author list for 1.3
CITATION [doc] Added a CITATION file
CMakeLists.txt [cmake] Adjust fakeenv for mavlink
INSTALL [doc] Improve a bit INSTALL
LICENSE [doc] Mention that GeomagnetismLibrary.c and relative file are in pub…
OFL.LICENSE [doc] Document which files are not licensied under BSD-3 clause Updated the README, including screenshots
RELEASE_NOTES [doc] Speak about last changes in rotorcraft_attitude

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
  • 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!


(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.

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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