Simulation with Multiverse

Simulation with Multiverse#

This exercise demonstrates how to use MultiSim to simulate a world using different backends and have access to external controllers. You will:

  • Load the table URDF from the loading worlds exercise

  • Simulate it using MultiSim with the Mujoco backend in 5 seconds

  • Add two robotic hands to the simulation and control them using a VR Headset with Hand Tracking

0. Setup#

1. Load the table and simulate it for 5 seconds#

Your goal:

  • Parse table.urdf into a variable named world

  • Simulate it using MultiSim for 5 seconds

world = URDFParser.from_file(file_path=table_urdf).parse()
viewer = MultiverseViewer()
headless = True
multi_sim = MujocoSim(world=world, viewer=viewer, headless=headless, step_size=1E-3)
multi_sim.start_simulation()

start_time = time.time()
time.sleep(5.0)
multi_sim.stop_simulation()
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