RFUniverse is a platform developed in Unity for robot simulation and reinforcement learning, consisting of three main functional modules:

Python API：Python communication interface

Unity Player：Receiving messages from Python and executing simulations

Unity EditMode：Used for building or editing simulation scenes. This code is located in a submodule

Follow the steps below to configure and run example scenes through the release version

1. Create a new conda environment and install pyrfuniverse

   conda create -n rfuniverse python=3.10 -y
   conda activate rfuniverse
   pip install pyrfuniverse
   

1. Download the RFUniverse simulation environment

   Option 1: Use the pyrfuniverse command line entry

   pyrfuniverse download
   

By default, it downloads the latest available version to ~/rfuniverse, you can add the optional argument -s to change the download path, -v to change the download version

Option 2: Download from Github Release: RFUniverse Releases

After downloading and unzipping, run the program once, and you can close it after entering the scene:

Linux: RFUniverse_For_Linux/RFUniverse.x86_64

Windows: RFUniverse_For_Windows/RFUniverse.exe

1. Install the test package pyrfuniverse-test and run the example script

   pip install pyrfuniverse-test
   pyrfuniverse-test test_pick_and_place
   

More examples can be viewed with pyrfuniverse-test -h

Additional operations that may be required on Linux systems:

If an error occurs during runtime, please check this document to supplement dependencies

Test Directory

Script Name	Function Introduction	Preview
test_active_depth	Infrared Depth
test_articulation_ik	Native IK
test_camera_image	Camera Screenshot Example
test_custom_message	Custom Messages and Dynamic Messages
test_debug	Loop Display of Various Debug Modules
test_digit	Interactive Digit Tactile Sensor Simulation
test_gelslim	GelSlim tactile sensor simulation
test_grasp_sim	Franka Grasping Test
test_grasp_pose	Franka Grasp Point Preview
test_heat_map	Interactive Heatmap
test_cloth_attach	Cloth Simulation
test_humanbody_ik	Human Body IK Interface
test_label	Scene Labeling 2DBBOX
test_ligth	Lighting Parameter Settings
test_load_mesh	Importing OBJ Model as Rigid Body
test_load_urdf	Importing URDF File
test_object_data	Object Basic Data
test_pick_and_place	Basic Interface and Grasping Driven by Native IK
test_point_cloud	Obtaining Depth Image and Converting to Point Cloud Using Image Width, Height, and FOV
test_point_cloud_render	Importing and Displaying .PLY Point Cloud File
test_point_cloud_with_intrinsic_matrix	Obtaining Depth Image and Converting to Point Cloud Using Camera Intrinsic Matrix
test_save_gripper	Saving Gripper as OBJ Model
test_save_obj	Saving Multiple Objects in the Scene as OBJ Models
test_scene	Scene Building/Saving/Loading
test_tobor_move	Tobor Wheel Drive Movement
test_urdf_parameter	Joint Target Position Setting Panel
test_ompl	Robotic Arm Obstacle Avoidance Planning This example requires Linux and self-installation of OMPL

Enter Edit mode

Launch RFUniverse with the <-edit> parameter to enter Edit mode:

Linux:

RFUniverse.x86_64 -edit

Windows:

RFUniverse.exe -edit