Virtual world simulation is achieved using [[Unity>https://unity.com/]]. ~ Unity is a game engine with an integrated development environment. ~ Many VR devices can be used in Unity, which helps to reflect the real world human behavior in the virtual world. Robots in the virtual world are controlled using [[ROS (Robot Operating System)>http://wiki.ros.org/]]. ~ ROS is a software platform for robots, and it is possible to control many real robots using ROS. ~ It is also possible to communicate with robots in the virtual world by logging in to the virtual world using a VR device. ~ It is also possible to create a ROS robot controller that moves a robot in the virtual world and use that robot controller to move a real robot. ~ In this way, SIGVerse serves as an alternative to the real world for robots. The system overview of SIGVerse is shown below. #ref(System/System_Overview.png,50%) Unity runs on Windows and ROS runs on Ubuntu. ~ Unity and ROS are connected using rosbridge and sigverse_rosbrige. Use rosbrige to send and receive commands and relatively small data for operating robots in the virtual world. ~ Use sigverse_rosbridge to send large data such as robot sensor data (RGB images, etc.) to ROS. ~ Since rosbridge is in JSON format, sigverse_rosbridge is in BSON format, so it is possible to send and receive binary data efficiently.