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Quadruped Robot Simulator

This project was automatically generated.

  • app - It is a folder link to the location of your Omniverse Kit based app. When you clone this repository, there is no app folder.
  • exts - It is a folder where you can add new extensions. It was automatically added to extension search path. (Extension Manager -> Gear Icon -> Extension Search Path).

Open this folder using Visual Studio Code. It will suggest you to install few extensions that will make python experience better.

Look for "quadrupedrobot.simulator" extension in extension manager and enable it. Try applying changes to any python files, it will hot-reload and you can observe results immediately.

Alternatively, you can launch your app from console with this folder added to search path and your extension enabled, e.g.:

> app/isaac-sim.sh --ext-folder exts --enable quadrupedrobot.simulator

App Link Setup

If app folder link doesn't exist or broken it can be created again. For better developer experience it is recommended to create a folder link named app to the Omniverse Kit app installed from Omniverse Launcher. Convenience script to use is included.

Run:

> ./link_app.sh

If successful you should see app folder link in the root of this repo.

If multiple Omniverse apps is installed script will select recommended one. Or you can explicitly pass an app:

> ./link_app.sh --path "/home/jin/.local/share/ov/pkg/${ISAAC_FOLDER}"

Acknowledge

We developed this project by referencing the code framework of the Pegasus simulator.

@misc{jacinto2023pegasus,
      title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation},
      author={Marcelo Jacinto and João Pinto and Jay Patrikar and John Keller and Rita Cunha and Sebastian Scherer and António Pascoal},
      year={2023},
      eprint={2307.05263},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

TODO

Sharing Your Extensions

This folder is ready to be pushed to any git repository. Once pushed direct link to a git repository can be added to Omniverse Kit extension search paths.

Link might look like this: git://github.com/[user]/[your_repo].git?branch=main&dir=exts

Notice exts is repo subfolder with extensions. More information can be found in "Git URL as Extension Search Paths" section of developers manual.

To add a link to your Omniverse Kit based app go into: Extension Manager -> Gear Icon -> Extension Search Path