SimLiquid: A Simulation-Based Liquid Perception Pipeline for Robot Liquid Manipulation

Liquid Dataset Render

🛠️ Environment Setup

Use conda or mamba to create a new environment and activate it:

conda create -n liquid python=3.10
conda activate liquid

Install BlenderProc and download assets

pip install git+https://github.com/DLR-RM/BlenderProc.git
blenderproc pip install tqdm
mkdir -p  assets/haven && cd assets/haven
blenderproc download haven .
cd ../.. && mkdir blender_projs

Download the blender project and save it as blender_projs/liquids.blend

Project Structure

SimLquid
├── liquid_render
│   ├── blender_projs
│   │   ├── liquids.blend
│   ├── assets
│   │   ├── haven
│   ├── cfgs
│   │   ├── liquid.yaml
│   ├── liquid_render.py
│   ├── render.sh
├── README.md

🚀 Render Dataset

./render.sh

Example images: