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

git clone https://github.com/Multiverse-Framework/Multiverse --depth 1

Install IsaacSim and IsaacLab according to this documentation. Make sure Isaac Sim is installed in the directory ${HOME}/.local/share/ov/pkg/isaac_sim-*, with * corresponding to the Isaac Sim version.

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:

@software{Multiverse,
  author = {Giang Nguyen, Michael Beetz},
  title = {Multiverse: Simulate Everything, Everywhere, All At Once},
  month = {December},
  year = {2024},
  url = {https://github.com/Multiverse-Framework/Multiverse},
  doi = {https://doi.org/10.5281/zenodo.14035537}
}