Open-source Softwares

I develop and maintain several scientific softwares related to robotics. They are all open-source, usually under a permissive license (often BSD).

The projects listed on this page the one I consider the more useful to a community. Check my GitHub page for the complete list of my other software projects.


MORSE is an generic simulator for academic robotics. It focuses on realistic simulation of small to large environments, indoor or outdoor, with one to over a dozen of autonomous robots.

We created the project in 2007 with Arnaud Degroote, and since then, 40 people from more than 15 institution worldwide have contributed. With Gazebo, it is today one of the major open-source robotic simulators.

Related publications:

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pyRobots is a toolkit for the high-level programming of interactive robots in Python. It provides a set of Python decorators to easily turn standard functions into background tasks which can be cancelled at anytime and to make your controller aware of the hardware resource (for instance, to ensure two tasks are not controlling the same motor at the same time).

It also provides a event-based mechanism to monitor specific conditions and asynchronously trigger actions.

It finally provides a library of convenient tools to manage poses in a uniform way (quaternions, Euler angles and 4D matrices, I look at you) and to interface with existing middlewares (ROS, naoqi, aseba...).

Related publication:

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