Omni.Anim.People is an extension for simulating human events in environments such as retail stores, warehouses, office buildings, traffic intersections etc. A simulation consists of a sequence of actions for each character in the scene to perform. The character actions currently supported are - idle, look around, sit, stand, walk, and queue. The extension consists of a UI to configure simulation settings, behavior scripts that control the characters in a simulation, and pre-configured character assets and animations that can be readily used.
We have implemented 2 new features in our version to extend its capabilities:
- Added new Teleport command to teleport an animated character
- omni/anim/people/scripts/character_behavior.py
- omni/anim/people/scripts/commands/teleport.py
- Added ROS topic integration to publish coordinates of animated characters
- omni/anim/people/scripts/global_character_position_manager.py
Simply replace your omni.anim.people extension folder with this repo's files. You should be able to find the folder in a file path similar to the below (assuming you are using IsaacSim v2023.1.1)
/home/$USER/.local/share/ov/pkg/isaac_sim-2023.1.1/extscache/omni.anim.people-0.2.4
Here are the specific changes:
Ensure that the new command file is created as omni/anim/people/scripts/commands/teleport.py
Import it into the omni/anim/people/scripts/character_behavior.py file and then add it as a valid command in the get_command function.
Ensure that your terminal sources ros2 properly by modifying your ~/.bashrc file (necessary for ros2 to work in IsaacSim since it runs from terminal)
Add the ros topic initialisation and publishing logic into the __init__ function of GlobalCharacterPositionManager
