Morse, the Modular OpenRobots Simulation Engine, uses the Blender Game Engine
to provide a general purpose robot simulator.
A robot and its environment are defined in Morse by creating a model in
Blender. Actuator and sensor objects are attached to a model, and may be
interacted with via a variety of middleware protocols. Simulations can be
programmed via Python scripts or inside of Blender itself. Currently supported
middleware includes YARP, MOOS, ROS, Pocoslibs, as well as a plain socket
interface.