Package: ciare-world-creator
Ciare World Creator is a CLI tool that reimagines the creation of simulation worlds for robotics. We have a vision that in the future you will not be obliged to painstakingly craft detailed SDF files. With Ciare, you will be able to effortlessly generate dynamic and realistic simulation environments by simply providing input text. Whether you're testing robot navigation or experimenting with new solutions, Ciare intelligently spawns models, freeing you from the complexities of precise object placement. By harnessing the power of Language Models (LLMs), Ciare empowers developers to rapidly prototype and explore their ideas, simplifying the simulation process and unlocking a world of possibilities for innovation.Imagine a scenario where you want to test the navigation capabilities of a robot. With Ciare World Creator, you no longer have to spend hours meticulously positioning every object in the simulation. Instead, you simply provide input text to the Ciare pipeline, and it takes care of the rest. Ciare intelligently spawns models in a reasonable manner, allowing you to focus on testing your solution in a simulated environment that closely resembles real-world scenarios.FeaturesModelsCurrently it uses gpt-3.5-16k by default, but if you have access to gpt-4, you will be prompted with a selection. Note that gpt-4 performs much better, but not everyone has the invitation from OpenAI to use it.Current limitationsCurrently it's Proof Of Concept solution. There will be a lot of future development. Right now it really does often hallucinate and it's spatial notion is not that great, but sometimes it generates something cool.Also complex models(like robots) currently is impossible to include. Work will be done on that in the future. Also complex textures of the models are not properly loading too.Integration with other simulatorsGenerate simulation worlds on the fly with LLMs.Supports selected simulators, with plans to expand support to all major simulators.SimulatorSupportedGazeboNvidia Isaac SimUnityModel DatabaseIn the future we want to collect a vast model database from which you can freely choose any model to incorporate into your simulations. It aims to become the largest robotics model database available.Currently, we usehttps://app.gazebosim.org/dashboardas database of the models.ExamplesPromptGenerated worldHealthcare worker and couple of medical items around themPile of fruits and other food in empty worldSurgical roomWarehouse shelvesUsual persons living roomGetting StartedInstallationFrom source using poetrygit clone https://github.com/ciare-robotics/world-creator.git
cd world-creator
poetry installUsing pippip3 install ciare-world-creatorToken configurationOnce you installed ciare, you need to save your OpenAI token by launchingciare_world_creator createcommand first time.OpenAI API usageI estimate that creating single world is only a matter of a few cents.How to useCiare has couple of commandsUsage: ciare ciare_world_creator [OPTIONS] COMMAND [ARGS]...World creator by CiareOptions:--help  Show this message and exit.Commands:create            Create new simulation worldlist              Lists all worlds created by youpurge             Delete database and all of the worlds you've createdfix               Sometimes, world downloaded can be malformed, so we willtake all objects from that world and respawn them in emptyworldCreate simulation worldYou can crate simulation worlds by using commandciare_world_creator create. You will need to prompt any query that will describe your simulation world as precise as possible. Model hallucinate pretty often.sim@sim:world-creator$±|main✗|→ciare_world_creatorcreate? Enter query for world generation(E.g Two cars and person next to it) Multiple cars spawned 5 meters from each other in empty world. One bicycle besides themUsing embedded DuckDB with persistence: data will be stored in: /var/tmp/ciare/chromadbGenerating world... 🌎World is Test, downloading itFile downloaded successfully.Spawning models in the world... 🫖Placing models in the world... 📍Finished! Output available at /var/tmp/ciare/worlds/world_multiple_cars_spawned_5_meters_from_each_other_in_empty_world_one_bicycle_besides_them.sdf 🦄List created worldsYou can runciare_world_creator listto view already created worlds. We save every prompt from create command, so later you won't query LLM again.Purge databaseWithciare_world_creator purgeyou can delete created worlds from local storage and start from scratch.Fix malformed worldWe take database of worlds fromhttps://app.gazebosim.org/, but sometimes someone puts a world there that doesn't work at all and breaks because of the missing tag or any other error...To overcome this, you can fix already created world by runningciare_world_creator fixcommand and later typing the name of your world. All models will be spawned in the empty world after that.Feedback and contributionsWe welcome feedback and contributions from the community to make Ciare World Creator even better. If you encounter any issues, have ideas for improvements, or would like to contribute to the project, please visit the GitHub repository and open an issue or submit a pull request.Let's create stunning simulation worlds together!