This extension enables the USD schemas for the external extensions under the
semu
namespace
Target applications: NVIDIA Omniverse Isaac Sim
Supported OS: Linux
Changelog: CHANGELOG.md
Table of Contents:
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Add the extension using the Extension Manager or by following the steps in Extension Search Paths
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Git url (git+https) as extension search path
git+https://github.com/Toni-SM/semu.usd.schemas.git?branch=main&dir=exts
To install the source code version use the following url
git+https://github.com/Toni-SM/semu.usd.schemas.git?branch=main&dir=src
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Compressed (.zip) file for import
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Enable the extension using the Extension Manager or by following the steps in Extension Enabling/Disabling
The following USD Schemas are supported:
semu.usd.schemas.RosBridgeSchema module
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RosAttribute: USD scheme to create a ROS service to get or set prim attributes
class RosAttribute Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent CreatePrimsSrvTopicAttr() CreateAttributesSrvTopicAttr() CreateGetAttrSrvTopicAttr() CreateSetAttrSrvTopicAttr() static Define() static Get() GetPrimsSrvTopicAttr() GetAttributesSrvTopicAttr() GetGetAttrSrvTopicAttr() GetSetAttrSrvTopicAttr() static GetSchemaAttributeNames()
semu.usd.schemas.RosControlBridgeSchema module
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RosControlFollowJointTrajectory: USD schema to support ROS FollowJointTrajectory action services
class RosControlFollowJointTrajectory Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent CreateActionNamespaceAttr() CreateArticulationPrimRel() CreateControllerNameAttr() static Define() static Get() GetActionNamespaceAttr() GetArticulationPrimRel() GetControllerNameAttr() static GetSchemaAttributeNames()
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RosControlGripperCommand: USD schema to support ROS GripperCommand action services
class RosControlGripperCommand Bases: omni.isaac.RosBridgeSchema.RosBridgeComponent CreateActionNamespaceAttr() CreateArticulationPrimRel() CreateControllerNameAttr() CreateGripperJointsRel() static Define() static Get() GetActionNamespaceAttr() GetArticulationPrimRel() GetControllerNameAttr() GetGripperJointsRel() static GetSchemaAttributeNames()