EyeSim VR - Unity Based EyeBot Simulator

Introduction

The EyeBot simulator with virtual reality EyeSim VR is a multiple mobile robot simulator with VR functionality based on game engine Unity 3D that allows experiments with the same unchanged EyeBot programs that run on the real robots. EyeSim VR is capable of simulating all major functionalities in RoBIOS-7, including:
  • LCD Output/Key Input
  • Camera output
  • PSD Sensors
  • Servos and Motors
  • V-Omega Driving
  • Radio Communication

User can build 3D customized simulation environment using a world or maze file(in wld or maz extension), place any number of different kind of robots (in the provided robot models), and also add different kind of objects (like cans or soccer balls) to the simulation. Due to Unity's excellent physics engine, the simulation of the motion of robots and the interactions between robots and objects/walls can be more realistic and accurate, which considerably improves the quality of simulation. To make simulations more realistic, user can even add errors to the simulation (because real robots aren't perfect) using the simulated error function we provide.

Features

  • Simulation of RoBIOS functions
  • Simulate physical interactions with objects
  • Robots and objects status inspections
  • Build customized environment with world or maze files
  • Trace of robots
  • Rotate/Relocate robots and objects
  • Pause, resume and speed up simulations
  • Change camera to birds-eye view and reset camera

Snapshots

Inspector Windows

LCD Display

Camera Display

System Requirements

Following is a table of tested OS and prerequisites for each OS, please note that other system versions may also work, they are just not tested yet, if your system version can not work properly, please file a bug in the last section or upgrade to the tested version.

Operating Systems OS Version Prerequisites
Windows Windows 8.1, 10 None
Mac OS 10.10.X Install Xcode and Xquartz
Linux 64 bit Install X11 library

Downloads

You can access the ftp server for all available downloads or

  • Download User Manual (last updated:18/10/2017) for detailed instructions on how to setup EyeSim-VR on your computer
  • To download simulator directly:
  • Platform Updated Download
    Windows 17/10/2017

    EyeSimVR-Windows-0.7.exe

    Mac OS 17/10/2017

    EyeSimVR-Mac-0.7.pkg

    Linux 14/09/2017

    EyeSimVR-Linux64-0.6.zip

  • Download and view Example Scripts
  • View Example Environment Files:
  • World format (Saphira), see example

    Maze format (Micromouse) see example


    Installation

    Windows

    1. Double click the eyesimsetup.exe to install the simulator.
    2. Create a "myscripts" folder and navigate to the folder from cygwin terminal(opened from File/Open terminal). To get to c disk first, using command:
      cd /cygdrive/c
    3. Use following command to compile the script:
      gccsim -o program main.c
    4. Start the EyeSim-VR app
    5. Start your application program - it will automatically connect to the simulation environment:
      ./program
      Note: You need to have at least one robot in the simulation for the script to work.

    Mac OS

    1. Install Xcode
    2. Install Xquartz
    3. Note: Your system default Xquartz app need to be removed and reinstall from above link to include X11.
    4. Run following command in terminal to link X11 library:
      sudo ln -s /opt/X11/include/X11 /usr/local/include/X11
    5. Download and double click the pkg file to install the simulator, it automatically create an EyeSim folder in your Applications folder
    6. Create a "myscripts" folder any where and put your script file in it
    7. Compile your robot application program:
      gccsim myprog.c -o myprog.x
    8. Start the EyeSim-VR app
    9. Start your application program - it will automatically connect to the simulation environment:
      ./myprog.x
      Note: You need to have at least one robot in the simulation for the script to work.

    Linux

    1. Install X11 library using following command:
      sudo apt-get install libx11-dev
    2. Create a folder called "myscripts", and navigate to the folder using terminal.
    3. To compile the script file, using command:
      gcc main.c - L <path to lib > -I <path to include> -leyesim -lX11 -lm -o prog
      Note: <path to lib> and <path to include> are relative path to the lib and linclude folder under eyesim folder.
    4. Start the EyeSim-VR app
    5. Start your application program - it will automatically connect to the simulation environment:
      ./program
      Note: You need to have at least one robot in the simulation for the script to work.

    © Copyright Thomas Bräunl. All Rights Reserved.