SimPublisher

A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.

Table of Contents

• Introduction
• Features
• Installation
• Usage

Introduction

Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly? This repository is perfect for you.

We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.

This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.

Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2. These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.

Features

Easy Connection to Headset

• Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
• Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
• Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.

Supported Simulation Environments

• MuJoCo
• SimulationFramework
• FancyGym
• IsaacLab

Supported Headsets

• Meta Quest 3
• HoloLens 2

Installation

1. Install the dependencies:

pip install zmq trimesh

2. Install this repository:

cd $the_path_to_this_project
pip install -e .

Usage

1. Deploy the Unity application to your headset with the device name. Please refer to the website.

2. Connect your simulation PC and headset to the same subnet. For example, if your simulation PC address is 192.168.0.152, the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73. We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity. Additionally, using a wired cable to connect your PC can significantly reduce latency.

3. Run the usage examples under the folder /demos/, then wear the headset, start the Unity application and enjoy!

Isaac Sim

Please check this for information on how to set up SimPub with Isaac Sim.