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