The Multiverse Simulators is a collection of simulators for the Multiverse Framework.
- 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
First, clone the repository:
git clone https://github.com/Multiverse-Framework/Multiverse-Simulators-Connector --depth 1
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)