Glovebox Digital Twin

This project integrates the mujoco-toolbox and armctl repositories. Developed as part of a master's thesis at Arizona State University.

Installation Instructions

Note

For non-Windows users, installation steps may vary slightly. Adjust the commands according to your operating system.

git clone https://github.com/MGross21/glovebox-digitaltwin
cd glovebox-digitaltwin
git submodule update --init --recursive
python -m venv .venv
.\.venv\Scripts\activate
python.exe -m pip install --upgrade pip
pip install poetry
poetry install

Core Structure of Digital Twin

flowchart TD
    Camera -- "Image Capture" --> Computer

    subgraph Computer["Computer"]
        direction TB
        Pose["Object Pose Detection & Path Planning"]
        Controller["Robot Controller [armctl]"]
        Simulation["Glovebox Simulation [mujoco-toolbox]"]
    end

    Pose -- "Send Commands" --> Controller
    Controller -- "State/Status" --> Pose

    Pose -- "Update Robot/Object Pose" --> Simulation
    Simulation -- "State/Status" --> Pose

    Controller <--"Send/Recieve"--> Robot["Robot"]

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Simulation Setup

Implementation

View	Before	After
Regular Camera
Flat
Sim
External

Cup Location Tracking