ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
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Repository Summary
| Checkout URI | https://github.com/multiverse-framework/multiverse.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-02 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| multiverse_control | 0.0.0 |
| multiverse_msgs | 0.0.0 |
| multiverse_interfaces | 0.0.0 |
README
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.
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},
month = {December},
year = {2024},
url = {https://github.com/Multiverse-Framework/Multiverse},
doi = {https://doi.org/10.5281/zenodo.14035537}
}
CONTRIBUTING
No CONTRIBUTING.md found.
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