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AnimaSim v0.1.0

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@danwahl danwahl released this 28 May 06:24
· 7 commits to main since this release
v0.1.0
62df974

AnimaSim ports the open 12-animal Quaternius "Ultimate Animated Animals" pack into four robotics/AV simulators that otherwise ship almost no animal assets: esmini, MuJoCo, Isaac Sim, and CARLA.

What's in v0.1.0

All 12 animals (alpaca, bull, cow, deer, donkey, horse, horse_white, stag, fox, husky, shibainu, wolf) are ported to every platform and spawn through each one's idiomatic mechanism. Deer is the worked example with a runnable scene per platform.

Platform What works Animals
MuJoCo runs + renders (uv) all 12 as <include> models
esmini headless run + offscreen recording (container) all 12 in the OpenSCENARIO catalog
Isaac Sim convert + spawn + pilot (GPU container) all 12 as animated UsdSkel — every clip preserved
CARLA drop-in cooked package + spawn (prebuilt container) all 12 as static.prop.<animal>

Getting started

git clone git@github.com:danwahl/animasim.git && cd animasim
git lfs install && git lfs pull
uv sync
uv run animasim list

See the README and the per-platform guides under platforms/.

CARLA package (attached)

AnimaSim-0.9.16.tar.gz is attached to this release (~240 MB, so it ships as a release asset rather than in the repo). Drop it into a stock carlasim/carla:0.9.16 and all 12 animals spawn as static props — no Unreal build needed. See platforms/carla/README.md.

Notes

  • Animation: the glb and Isaac/USD outputs carry all ~13 clips per animal; esmini, MuJoCo, and CARLA props are static by design.
  • Isaac Sim and CARLA examples need an NVIDIA GPU.
  • Licensing: animal models are Quaternius "Ultimate Animated Animals" (CC0); project code is MIT.

Roadmap

  • CARLA skeletal-animation tiers (currently static props).
  • A shared quadruped skeleton + animation library in USD.
  • Runnable example scenes for the non-deer animals.
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