AllSight_Sim

November 13, 2024 · View on GitHub

Overview

This package offers a simulation environment for a small 3D structured vision-based finger sensor called AllSight. It includes the integration of the AllSight model with the TACTO API simulation, allowing for data collection and simulation of robotic in-hand manipulation scenarios. For more information refer to the corresponding paper

Update Sep. 20, 2023

The codebase for SightGAN can be found in allsight_sim2real. Additionally, we plan to provide extensive documentation for this repository, stay tuned!

Update

IsaacGym support has been added, you can access it by following this link.

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Installation

The code has been tested on:

Ubuntu 18 / 20
python >= 3.6

Clone the repository:

git clone git@github.com:osheraz/allsight_sim.git
cd allsight_sim

Install the dependencies:

pip install -r requirements/requirements.txt

Usage

experiments/00_demo_pybullet_allsight.py: rendering RGB and Depth readings with Allsight sensor.

experiments/01_collect_data_sim.py: rendering RGB and Depth readings with Allsight sensor.

NOTE: Adjust simulation parameters on experiments/conf folder.

License

This project is licensed under MIT license, as found in the LICENSE file.