Added robot API

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+Antoine Richard -- University of Luxembourg -- Space Robotics Group -- 2023-24

wiki/robots/_Sidebar.md

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+## Table of Contents
+- [Previous (Mode Configurations)](https://github.com/AntoineRichard/OmniLRS/wiki/Environments)
+- [How to set up Robots!?](#how-to-set-up-robots)
+  - [Robots and where to find them](#robots-and-where-to-find-them)
+  - [Changing the default robot used when starting an environment](#changing-the-default-robot-used-when-starting-an-environment)
+- [Next](https://github.com/AntoineRichard/OmniLRS/wiki/Physics)
+- [Back to Home](https://github.com/AntoineRichard/OmniLRS/wiki/Home)

wiki/robots/robots.md

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+# How to set up Robots!?
+
+In this page, we will explore how robots can be integrated to OmniLRS.
+
+> [!Note](#how-to-set-up-robots)
+> Isaac provides many ways to import, create, or modify existing robots. This can be done through a URDF importer, a mujoco importer, or an Onshape importet. Robots can also be rigged manually from within the UI. We encourage anyone non-familiar with Isaac Sim to [take a look at Isaac's Sim comprehensive suite of tutorials for ROS/ROS2](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#).
+
+## Robots and where to find them
+
+By default, we provide two robots to be used in the simulation. These are generic non-space robots.
+The reasoning behind that is that Space hardware is so unique that end-users would either use generic off-the-shelf robots or highly specialized ones.
+Hence we settled with two popular options from [ClearPath Robotics](https://clearpathrobotics.com/) (the Husky and the Jackal), which we fitted with a basic suite of sensors.
+
+Available robots & sensor payloads:
+- Husky:
+  - Velodyne VLP16: `ros2_husky_PhysX_vlp16.usd`
+  - Velodyne VLP16 + RGB + Depth + IMU: `ros2_husky_PhysX_vlp16_mono_depth_imu.usd`
+- Jackal:
+  - Velodyne VLP16: `ros2_jackal_PhysX_vlp16.usd`
+  - Velodyne VLP16 + RGB Left + RGB Right + IMU: `ros2_jackal_PhysX_vlp16_stereo.usd`
+
+> [!CAUTION]
+> These robots are ROS2 capable only. Their omnigraphs are setup for ROS2. This makes them compatible with SpaceROS.
+
+> [!NOTE]
+> This list will grow in the coming month as we try more robots onto it. We are planning on adding Leo Rovers and Quadrupeds in the near future.
+
+## Changing the default robot used when starting an environment
+
+To change the default robot used when starting an environment, you need to edit the `robot_settings` inside the environment config.
+The `robot_settings` who defines the set of parameters managing robots provides the following set of parameters.
+
+Arguments:
+- `uses_nucleus`: `(str)`, whether or not the robot loader should try to find the robot on Omniverse Nucleus cloud. True means the robot is on nucleus. False the robot is local.
+- `is_ROS2`: `(bool)`, if the robot is ROS2 enabled. True if the robot is using ROS2.
+- `max_robots`: `(int)`, The maximum amount of robots in the scene.
+- `robots_root`: `(str)`, The path where the robots are generated in the scene.
+- `parameters`: `(list(RobotsParameters))`, A list of parameters defining robots.
+
+> [!IMPORTANT]
+> Large scale environments only support one robot at a time. This is due to the type of algorithms used to render the terrain.
+
+To define a robot one can use the following arguments:
+- `robot_name`: `(str)`, the name of the robot. It's mostly used to teleport it or reset it.
+- `usd_path`: `(str)`, the path of the robot on nucleus or locally.
+- `pose`:
+  - `position`: `(float,float,float)` x, y, z position.
+  - `orientation`: `(float,float,float)` w, x, y, z quaternion.
+- `domain_id`: `int`, The domain id of the robot. (not functional)
+- `target_links`: `(list(str))` The links used to compute the deformation forces when derforming terrains.
+
+> [!IMPORTANT]
+> For the large scale environments the position and orientation of the robot is ignored and the `starting_position` parameter is used instead.
+> The Z position of the robot is computed automatically.
+
+
+Example:
+```bash
+robots_settings:
+  uses_nucleus: False
+  is_ROS2: True
+  max_robots: 5
+  robots_root: "/Robots"
+  parameters:
+      -
+      robot_name: husky
+      usd_path: assets/USD_Assets/robots/ros2_husky_PhysX_vlp16.usd
+      pose:
+        position: [5.0, 5.0, 0.5]
+        orientation: [1, 0, 0, 0]
+      domain_id: 0
+      target_links: ["front_left_wheel_link", "front_right_wheel_link", "rear_left_wheel_link", "rear_right_wheel_link"]
+```