mvig-robotflow/rfuniverse

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 the sample scene through the published version:

Download the RFUniverse Releases and unzip it:

Run the program once, enter the scene and then close it:

Linux：RFUniverse_For_Linux/RFUniverse.x86_64

Windows：RFUniverse_For_Windows/RFUniverse.exe
Create a conda environment and activate it, install the 'pyrfuniverse' package with the same version number as the RFUniverse Release:

⚠️Please replace [0.12.3] in the following command with the version number of the RFUniverse Releases you downloaded.
```
conda create -n rfuniverse python=3.10 -y
conda activate rfuniverse
pip install pyrfuniverse==0.12.3
```
Clone the pyrfuniverse, switch to the Tag with the same version number as the RFUniverse Release:

⚠️Please replace [0.12.3] in the following command with the version number of the RFUniverse Releases you downloaded.
```
git clone https://github.com/mvig-robotflow/pyrfuniverse.git
cd pyrfuniverse
git checkout v0.12.3
```
Run any Python script under 'pyrfuniverse/Test' (some scripts may require installation of large packages such as 'pybullet', 'open3d', etc.):
```
cd Test
python test_pick_and_place.py
```

Additional operations that may be required on Linux systems:

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

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_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