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Add simslides functionality #17

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a219de2
add simslides functionality
jennuine Sep 16, 2022
bb298ae
remove comment
jennuine Sep 16, 2022
e5a8d8c
merged with main
Sep 22, 2022
77078e1
Merge branch 'main' into jennuine/simslides
jennuine Sep 22, 2022
ab8fce3
added keyframes
jennuine Sep 23, 2022
e51981f
Merge branch 'main' into jennuine/simslides
jennuine Sep 23, 2022
8e6194a
updated tunnel pose
jennuine Sep 23, 2022
469a7a8
Merge branch 'main' into jennuine/simslides
jennuine Sep 26, 2022
115cc12
Merge branch 'main' into jennuine/simslides
jennuine Sep 28, 2022
11b8740
added keyframe for reset & mujuco
jennuine Sep 28, 2022
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25 changes: 24 additions & 1 deletion README.md
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,5 +9,28 @@ git clone https://github.com/gazebosim/garden_demo

export GZ_SIM_RESOURCE_PATH=`pwd`/garden_demo/models:$GZ_SIM_RESOURCE_PATH

gz sim -v 4 "garden_demo/garden.sdf"
gz sim -v 4 -r "garden_demo/garden.sdf"
```

---

Requires [simslides](https://github.com/jennuine/simslides/tree/garden)

```
cd /path/to/garden/ws/src

git clone -b garden https://github.com/jennuine/simslides.git

cd ..

colcon build --merge-install --packages-select simslides

export GZ_GUI_PLUGIN_PATH=`pwd`/install/lib/simslides/gz-gui/:$GZ_GUI_PLUGIN_PATH

gz sim -v 4 -r "garden_demo/garden.sdf"
```

Keyboard keys:
* Left arrow key: go back
* Right arrow key: advance
* F1 key: re-position
44 changes: 43 additions & 1 deletion garden_demo/garden.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@
<scene>scene</scene>
<ambient_light>0.0 0.0 0.0</ambient_light>
<background_color>0.0 0.0 0.0</background_color>
<camera_pose>-122.595329 247.122665 140.111526 0 0.570824 -1.096719</camera_pose>
<camera_pose>434.060120 105.624825 174.010178 0 0.095625 -3.103774</camera_pose>
<camera_clip>
<near>0.25</near>
<far>1000000</far>
Expand Down Expand Up @@ -267,6 +267,48 @@
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin name="SimSlides" filename="SimSlidesGz">
<ignition-gui>
<title>SimSlides</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">50</property>
<property type="double" key="width">200</property>
<property type="string" key="cardBackground">#44000022</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
</ignition-gui>

<!-- overview of exterior (althone) -->
<keyframe type='cam_pose' pose="434.060120 105.624825 174.010178 0 0.095625 -3.103774"/>
<keyframe type='cam_pose' pose="37.496552 178.348282 71.650681 0 0.445424 -1.867050"/>

<!-- enter tunnel (althone) -->
<keyframe type='cam_pose' pose="0.0024666 116.539413 4.9599771 0 -0.049574 -1.584071"/>
<keyframe type='cam_pose' pose="-0.104694 98.755867 7.199647 0 -0.049574 -1.584071"/>

<!-- inner dome views (althone)-->
<keyframe type='cam_pose' pose="58.326717 11.576072 16.867136 0 0.425625 -1.900599"/>
<keyframe type='cam_pose' pose="-68.212418 -25.750956 21.023611 0 0.108826 1.007798"/>
<keyframe type='cam_pose' pose="66.799423 -36.016186 33.299290 0 0.445425 1.924860"/>

<!-- flag (brandon then ian)-->
<keyframe type='cam_pose' pose="3.930702 78.555855 7.369277 0 -0.023174 -3.126842"/>

<!-- lake (ian) -->
<keyframe type='cam_pose' pose="-58.748069 -33.713611 14.534838 0.1023558 0.1897235 0.5463578"/>

<!-- floating ball (michel) -->
<keyframe type='cam_pose' pose="54.112648 9.684307 19.904329 0 0.551025 -0.703802"/>

<!-- reset & mujoco (michael caroll then addisu) -->
<keyframe type='cam_pose' pose="-68.208305 3.722506 19.806673 0.1938373 0.576818 -2.835106"/>
</plugin>

</gui>

<light type="directional" name="sun">
Expand Down