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Mujoco based Robotic arm simulator with an Esim-based neuromorphic vision sensor simulator, rendered in Unity3D
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Turgibot/Sim2E
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We introduce our Mujoco based, Interbotix vx300s digital twin with six degrees of freedom (DOF) robotic arm, mounted with a virtual event camera. The robotic arm 3D model is in a configurable virtual lab, rendered in the Unity3D game engine, and the events are generated using the Esim event camera simulator. The system can generate, and record simulated neuromorphic vision data while the robot arm is in motion.
This project utilizes Esim to generate events from a sequence of images.You can find a pdf of the paperhere. If you use any of this code, please cite this publication.
@Article{Rebecq18corl,author ={Henri Rebecq and Daniel Gehrig and Davide Scaramuzza},title ={{ESIM}: an Open Event Camera Simulator},journal ={Conf. on Robotics Learning (CoRL)},year =2018,month = oct}
- Ubuntu 18.04 or newer
- Nvidia GPU with CUDA support
- Nvidia Cudnn
- Anaconda
conda create -n sim2e python=3.9conda activate sim2e
IMPORTANT: Make sure to stay on the sim2e conda environment and don't switch to the environment in the Esim installation guide.
Instructions can be found in thisgithub page.
Install mujoco and mujoco-py. Instructions can be found in this videohere . You can also follow the instructions in thisdocument instead.
git clone https://github.com/Turgibot/Sim2E.gitcd Sim2Epip install -r requirements.txtRun the following command to start the simulation
python main.py