|| {{attachment:morse-logo.png}}|| = MORSE, the OpenRobot Simulator = || {{attachment:morse_screenshot1.jpg}}|| {{attachment:morse_screenshot2.jpg}} || == Main features == * A versatile simulator for generic mobile robots simulation (single or multi robots), * Enabling realistic and dynamic environments (with other interacting agents -humans- or objects), * Don't reinvent the wheel: critical components reused from other opensource projects (Blender for 3D rendering + physical simulation + UI, dedicated robotic middlewares for communications + robot hardware support), * Seamless workflow: since the simulator rely on Blender for both modelling and the realtime 3D engine, creating and modifying a simulated scene is straigthforward. * Entierely scriptable in Python, * Adaptable to various level of simulation realism (for instance, we may want to simulate exteroceptive sensors like cameras in certain cases and access directly to a higher level representation of the world -like labelled artifacts- in other cases), * Currently compatible with YARP and LAAS !OpenRobots robotics frameworks, * Fully open source, BSD-compatible. == Documentation == * [[http://homepages.laas.fr/slemaign/openrobots/doku.php?id=morse:morse|Morse's web pages]] * [[http://homepages.laas.fr/slemaign/openrobots/doku.php?id=morse:user:summary|User's guide]] * [[http://homepages.laas.fr/slemaign/openrobots/doku.php?id=morse:dev:summary|Developer's guide]] == Videos == Videos are availables [[http://vimeo.com/groups/blenderandrobotics|online on vimeo]] == Source code == * [[http://github.com/laas/morse|Morse's page on Github]] == Road Map == The first release of MORSE contains only a subset of the final simulator specification. Amongst the planned features: * Support for arms simulation, based on inverse kinematics. This has been separately developped by the Leuven's university and will be merge into MORSE over the next releases, * Raw sockets interface + full compatiblity with the ROS robotics framework (other robotics framework are planned as well. Let us know if you want to contribute in this area), * Developement of the user interface, * Scalablity (both in term of simulation capacity and ease of deployment), * Multi-node simulations (several Blender nodes can be started on several computer and automaticaly synchronise, which should allow simulations of tenth of robots in the same scene), * Dedicated supervision node that would allow to: observe the simulation, display logs and metrics, start/stop robots, dynamically alter the scene (like moving an obstacle in front of a robot, etc.).