🎮 High fidelity · Modularity · Multi-Agents
🚀 Build a virtual ocean world with real physical interaction to provide a one-stop solution for the development and testing of underwater robots!
Aquaverse is an underwater robot simulation platform based on unreal engine 5.5, which integrates the following technologies:
- 🧱 Physical simulation of rigid body
- 🌊 Gerstner wave sea surface modeling
- 💦 Dynamic fluid interaction system
- 🎥 Realistic rendering of underwater image
- 📡 GPU accelerated multibeam sonar modeling
- 🤖 Support ROV/AUV/USV multiple robot types
We are actively improving AquaVerse to make it more powerful, extensible, and realistic. The following features are under development or planned:
| Feature | Status | Notes |
|---|---|---|
| 🧠 Update control program and use tutorial | 🟡 Planned | Will be updated after paper was published |
🛠 Status Legend:
🟢 In Progress 🟡 Planned 🔵 Researching
We welcome suggestions and contributions! Please feel free to open an issue or start a discussion.
This section introduces how to quickly deploy and run AquaVerse for underwater robot simulation, sensor rendering, and multi-agent experiments.
To ensure stable simulation and high-fidelity sonar rendering, the following environment is recommended:
-
🖥 OS: Windows 10 / 11 (64-bit)
(TODO: Ubuntu 20.04 and ROS support) -
🎮 Engine: Unreal Engine 5.5
-
🧠 CPU: ≥ 8 cores
-
💾 RAM: ≥ 16 GB
You can obtain AquaVerse in one of the following ways:
- 🔗 AqueVerse UE5 exe file (Recommended)
https://drive.google.com/file/d/1YHAewZmkqE59vu9PGAVMXhlz_rq8Z_zf/view?usp=sharing
Clone the repository:
git clone https://github.com/StarTeardrop/AquaVerse.git
cd AquaVerse
next:
RUN: python AquaVerseKeyboard_Control.py
If the python related package is missing, please install it with pip.
AquaVerseKeyboard_Control.py file parameters:
exe_path = r"E:\Test\Windows\AquaVerse.exe" -->>Change to the address of the 'AquaVerse.exe' executable file extracted after downloading from Google disk
profile_path = r'C:\Users\21058\Desktop\Profiles' -->> Modify to the 'Profiles' folder address under git directory
If you need to adjust the sensor and robot parameters, please refer to the parameters of each JSON file under the profiles folder (At present, only bluerov2 type robots are supported, and other types will be added in subsequent versions)