Multiverse

Multiverse is a simulation framework designed to integrate multiple advanced physics engines such as MuJoCo, Project Chrono, and SOFA along with various photo-realistic graphics engines like Unreal Engine and Omniverse. Additionally, Multiverse provides the capability to generate knowledge graphs dynamically during runtime.

Demo1

Demo2

Documentation

https://multiverseframework.readthedocs.io/en/latest

Installation

Linux

./install.sh                    # Install all prerequisites (sudo required)
./build_third_parties.sh        # Build the dependencies
./build_multiverse.sh           # Build the software
./build_multiverse_ws.sh        # Build the ROS workspace (only for Ubuntu 20.04)
./build_multiverse_ws2.sh       # Build the ROS2 workspace (for Ubuntu >= 20.04)

Windows 11

Run Windows Powershell as Administrator and execute these scripts, restart the Powershell before running each script to refresh the environment paths

install.bat                     # Install all prerequisites (as Administrator)
build_third_parties.bat         # Build the dependencies
build_multiverse.bat            # Build the software
build_multiverse_ws2.bat        # Build the ROS2 workspace

Test

multiverse_launch