🌌 Multiverse

Decentralized Simulation Framework designed to integrate multiple advanced physics engines along with various photo-realistic graphics engines to simulate everything, everywhere, all at once.

Multiverse.mp4

🛠 Installation

Make sure to use a virtual environment. You can choose from conda, virtualenv, or virtualenvwrapper.

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1. Clone the Repository

Clone the repository with all submodules (shallow clone):

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

Alternatively, if you already cloned the repo without --recurse-submodules, run:

git submodule update --init --recursive

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2. Install Multiverse Launch and Multiverse Utilities

pip install -r ./Multiverse-Launch/requirements.txt
pip install -r ./Multiverse-Utilities/requirements.txt

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3. Install Simulators Connector

Choose the connector depending on the simulator you're using. Default: MuJoCo.

pip install -r ./Multiverse-Launch/src/multiverse_connectors/multiverse_simulators_connector/src/mujoco_connector/requirements.txt

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4. Install ROS Connector

source /opt/ros/$ROS_DISTRO/setup.bash
cd ./Multiverse-Launch/src/multiverse_connectors/multiverse_ros_connector/ros_ws

• For ROS 1:

  cd multiverse_ws
  catkin build

• For ROS 2:

  cd multiverse_ws2
  colcon build --symlink-install

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5. (Optional) Install Multiverse Parser

pip install -r ./Multiverse-Parser/requirements.txt
cd Multiverse-Parser
./setup.sh

🧪 Test

To test the framework, run the default example:

./Multiverse-Launch/bin/multiverse_launch

This will spawn 4 instances of the MuJoCo simulator. Each instance runs independently but remains interconnected with the others in real time — demonstrating the decentralized and modular nature of the framework.

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📚 Citation

If you use this framework in your research, please cite:

@software{Multiverse,
  author = {Giang Nguyen and Michael Beetz},
  title = {Multiverse},
  month = {December},
  year = {2024},
  url = {https://github.com/Multiverse-Framework/Multiverse},
  doi = {10.5281/zenodo.14035537}
}