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
The codebase for SightGAN can be found in allsight_sim2real. Additionally, we plan to provide extensive documentation for this repository, stay tuned!
IsaacGym support has been added, you can access it by following this link.
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_simInstall the dependencies:
pip install -r requirements/requirements.txt- 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.
This project is licensed under MIT license, as found in the LICENSE file.