USD schemas for external extensions (under the semu namespace, for NVIDIA Omniverse Isaac Sim

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:

• Extension setup
• Supported schemas
  • semu.usd.schemas.RosBridgeSchema module
    • RosAttribute
  • semu.usd.schemas.RosControlBridgeSchema module
    • RosControlFollowJointTrajectory
    • RosControlGripperCommand

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Extension setup

1. Add the extension using the Extension Manager or by following the steps in Extension Search Paths

   • 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
     

   • Compressed (.zip) file for import

     semu.usd.schemas.zip

2. Enable the extension using the Extension Manager or by following the steps in Extension Enabling/Disabling

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Supported schemas

The following USD Schemas are supported:

semu.usd.schemas.RosBridgeSchema module

• 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

• 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()

• 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()