# ![RFUniverse.png](./Image/RFUniverse.png)

<div align="center">

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English | [中文](./README_zh.md)

[User Doc](https://docs.robotflow.ai/pyrfuniverse/) | [Dev Guide](./DevDoc.md)

</div>

---

RFUniverse is a platform developed in Unity for robot simulation and reinforcement learning, consisting of three main functional modules:

[Python API](https://docs.robotflow.ai/pyrfuniverse/pyrfuniverse.envs.html)：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](https://github.com/mvig-robotflow/rfuniverse_editmode)

---

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
   
   ---

   Option 2: Download from Github Release: [RFUniverse Releases](https://github.com/mvig-robotflow/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`

---

Additional operations that may be required on Linux systems: 

If an error occurs during runtime, please check this [document](https://github.com/mvig-robotflow/rfuniverse/issues/3) to supplement dependencies

---

##### Test Directory

| Script Name                                                                                                                                       | Function Introduction                                                                                     | Preview                                                                                                                                                                                                                                                                                                                                                                                                           |
| ------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [test_active_depth](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_active_depth.py)                                           | 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](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_articulation_ik.py)                                     | Native IK                                                                                                 | <img src="./Image/articulation_ik.png" height="100">                                                                                                                                                                                                                                                                                                                                                              |
| [test_camera_image](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_camera_image.py)                                           | Camera Screenshot Example                                                                                 |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_custom_message](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_custom_message.py)                                       | Custom Messages and Dynamic Messages                                                                      |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_debug](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_debug.py)                                                         | 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](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_digit.py)                                                         | Interactive Digit Tactile Sensor Simulation                                                               | <img src="./Image/digit.png" height="100">                                                                                                                                                                                                                                                                                                                                                                        |
| [test_gelslim](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_gelslim.py)                                                     | 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](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_grasp_sim.py)                                                 | Franka Grasping Test                                                                                      | <img src="./Image/grasp_sim.gif" height="100">                                                                                                                                                                                                                                                                                                                                                                    |
| [test_grasp_pose](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_grasp_pose.py)                                               | Franka Grasp Point Preview                                                                                |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_heat_map](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_heat_map.py)                                                   | Interactive Heatmap                                                                                       | <img title="" src="./Image/heatmap.png" alt="" height="100">                                                                                                                                                                                                                                                                                                                                                      |
| [test_cloth_attach](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_cloth_attach.py)                                           | Cloth Simulation                                                                                          |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_humanbody_ik](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_humanbody_ik.py)                                           | Human Body IK Interface                                                                                   |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_label](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_label.py)                                                         | Scene Labeling 2DBBOX                                                                                     | <img src="./Image/label/rgb.png" height="100"><img src="./Image/label/id.png" height="100">                                                                                                                                                                                                                                                                                                                       |
| [test_ligth](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_light.py)                                                         | Lighting Parameter Settings                                                                               |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_load_mesh](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_load_mesh.py)                                                 | Importing OBJ Model as Rigid Body                                                                         |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_load_urdf](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_load_urdf.py)                                                 | Importing URDF File                                                                                       |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_object_data](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_object_data.py)                                             | Object Basic Data                                                                                         |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_pick_and_place](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_pick_and_place.py)                                       | Basic Interface and Grasping Driven by Native IK                                                          | <img src="./Image/pick_place.gif" height="100">                                                                                                                                                                                                                                                                                                                                                                   |
| [test_point_cloud](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_point_cloud.py)                                             | Obtaining Depth Image and Converting to Point Cloud Using Image Width, Height, and FOV                    |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_point_cloud_render](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_point_cloud_render.py)                               | Importing and Displaying .PLY Point Cloud File                                                            |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_point_cloud_with_intrinsic_matrix](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_point_cloud_with_intrinsic_matrix.py) | Obtaining Depth Image and Converting to Point Cloud Using Camera Intrinsic Matrix                         |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_save_gripper](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_save_gripper.py)                                           | Saving Gripper as OBJ Model                                                                               |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_save_obj](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_save_obj.py)                                                   | Saving Multiple Objects in the Scene as OBJ Models                                                        |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_scene](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_scene.py)                                                         | Scene Building/Saving/Loading                                                                             |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_tobor_move](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_tobor_move.py)                                               | Tobor Wheel Drive Movement                                                                                |                                                                                                                                                                                                                                                                                                                                                                                                                   |
| [test_urdf_parameter](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_urdf_parameter.py)                                       | Joint Target Position Setting Panel                                                                       | <img src="./Image/urdf_parameter.png" height="100">                                                                                                                                                                                                                                                                                                                                                               |
| [test_ompl](https://github.com/robotflow-initiative/pyrfuniverse/blob/main/test/pyrfuniverse_test/test/test_ompl.py)                                                           | Robotic Arm Obstacle Avoidance Planning<br/>**This example requires Linux and self-installation of OMPL** | <img src="./Image/ompl.gif" height="100">                                                                                                                                                                                                                                                                                                                                                                         |

---

## Enter Edit mode

Launch RFUniverse with the <-edit> parameter to enter Edit mode:

Linux:

```
RFUniverse.x86_64 -edit
```

Windows:

```
RFUniverse.exe -edit
```