Repository: github.com/SantaCRC/emdb-simulator

Built for my master’s thesis, Interfaz para la arquitectura cognitiva e-MDB con frameworks de definición de experimentos en robótica (“An interface between the e-MDB cognitive architecture and robotics experiment-definition frameworks”; MS in Industrial Informatics and Robotics, Universidade da Coruña). It connects the e-MDB cognitive architecture to experiment-definition frameworks by wrapping the RoboCasa / robosuite kitchen-manipulation simulation behind a ROS 2 topic/service interface, so teleoperation, demo recording, and RL training/inference all talk to the simulator without depending on robosuite, RoboCasa, or MuJoCo directly.

Highlights

  • Three ROS 2 packages: emdb_interfaces (custom msgs/srvs), emdb_simulator (simulator node plus scene, robot, and gripper loaders) and emdb_policy (policy node, gym wrapper, training).
  • Teleoperation and demo recording in robomimic-compatible formats, with mimicgen for data generation.
  • RL training and inference through the same ROS 2 interface used on the real robot.
  • HPC ready: CPU/GPU Docker images and SLURM job scripts for running on CESGA via Singularity.
  • Headless rendering with MuJoCo over EGL, and an idempotent setup.sh / env.sh for reproducible workspaces.
  • Sphinx documentation with architecture, how-to guides, and API reference.