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.

3_mujoco_1_ue.mp4

TwoDemos.1.mp4

Documentation

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

Installation

Start by cloning this repository and navigating to the Multiverse folder.

Linux

./install.sh                                                                    # Install all prerequisites
./build_third_parties.sh #--excludes blender usd mujoco pybind11                # Build the dependencies with optional exclusions
./build_multiverse.sh #--only-src / --only-modules connectors parser knowledge  # Build the software with optional inclusions
./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 

Citation

If you find this software helpful, please cite it as follows:

Giang Nguyen, & Beetz, M. (2024). Multiverse (0.0.0-alpha). Zenodo. https://doi.org/10.5281/zenodo.14035537