multiverse-simulators 0.0.1

A collection of simulators for the Multiverse Framework.

Multiverse Simulators

The Multiverse Simulators is a collection of simulators for the Multiverse Framework.

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📋 Prerequisites

• Python ≥ 3.10 (Linux), 3.12 (Windows)

Each simulator connector will have different dependencies, e.g.:

• Python packages for MuJoCo listed in requirements.txt
• Python packages for Isaac Sim listed in requirements.txt

Install the required packages:

pip install -r src/mujoco_connector/requirements.txt

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⚙️ Setup

First, clone the repository:

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

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Then install it as a local Python package using a symbolic link (editable mode): Currently, only MuJoCo is installed via pip; support for Isaac Sim and others will be added later.

pip install -e .

This allows you to make changes to the source code and immediately reflect them without reinstalling.

You can then test it in a Python shell:

from mujoco_connector import MultiverseMujocoConnector
from multiverse_simulator import MultiverseSimulatorState, MultiverseSimulatorConstraints

simulator = MultiverseMujocoConnector(file_path=os.path.join(resources_path, "mjcf/unitree/h1_scene.xml"))
constraints = MultiverseSimulatorConstraints(max_simulation_time=10.0)
simulator.start(constraints=constraints)
while simulator.state != MultiverseSimulatorState.STOPPED:
    time.sleep(1)