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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

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Follow the steps below to configure and run example scenes through the release version

1. Create a new conda environment and install pyrfuniverse

   conda create -n rfuniverse python=3.10 -y
   conda activate rfuniverse
   pip install pyrfuniverse
   

2. Download the RFUniverse simulation environment

   Option 1: Use the pyrfuniverse command line entry

   pyrfuniverse download
   

   By default, it downloads the latest available version to ~/rfuniverse, you can add the optional argument -s to change the download path, -v to change the download version

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   Option 2: Download from Github Release: RFUniverse Releases

   After downloading and unzipping, run the program once, and you can close it after entering the scene:

   Linux: RFUniverse_For_Linux/RFUniverse.x86_64

   Windows: RFUniverse_For_Windows/RFUniverse.exe

3. Install the test package pyrfuniverse-test and run the example script

   pip install pyrfuniverse-test
   pyrfuniverse-test test_pick_and_place
   

   More examples can be viewed with pyrfuniverse-test -h

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Additional operations that may be required on Linux systems:

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

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Test Directory

| Script Name | Function Introduction | Preview | | ------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | test_active_depth | Infrared Depth | <img title="" src="./Image/active_depth/active_depth_scene.png" alt="" height="100"><img src="./Image/active_depth/depth.png" height="100"><img src="./Image/active_depth/active_depth.png" height="100"><img src="./Image/active_depth/depth_id_select.png" height="100"><img src="./Image/active_depth/active_depth_id_select.png" height="100"><img src="./Image/active_depth/distance_filt.png" height="100"> | | test_articulation_ik | Native IK | <img src="./Image/articulation_ik.png" height="100"> | | test_camera_image | Camera Screenshot Example | | | test_custom_message | Custom Messages and Dynamic Messages | | | test_debug | Loop Display of Various Debug Modules | <img src="./Image/debug/pose.png" height="100"><img src="./Image/debug/joint_link.png" height="100"><img src="./Image/debug/collider.png" height="100"><img src="./Image/debug/3d_bounding_box.png" height="100"><img src="./Image/debug/2d_bounding_box.png" height="100"> | | test_digit | Interactive Digit Tactile Sensor Simulation | <img src="./Image/digit.png" height="100"> | | test_gelslim | GelSlim tactile sensor simulation | <img title="" src="./Image/gelslim/light.png" alt="" height="100"><img title="" src="./Image/gelslim/depth.png" alt="" height="100"> | | test_grasp_sim | Franka Grasping Test | <img src="./Image/grasp_sim.gif" height="100"> | | test_grasp_pose | Franka Grasp Point Preview