Installing & Managing Packages

Package Installation Location

BiguaSim packages are by default saved in the current user profile, depending on the platform.

Platform	Location
Linux	`~/.local/share/biguasim/{biguasim_version}/worlds/`
Windows	`%USERPROFILE%\AppData\Local\biguasim\{biguasim_version}\worlds`

Note that the packages are saved in different subfolders based on the version of BiguaSim. This allows multiple versions of BiguaSim to coexist, without causing version incompatibility conflicts.

This is the path returned by biguasim.util.get_biguasim_path()

Each folder inside the worlds folder is considered a seperate package, so it must match the format of the archive described in Package Contents.

Overriding Location

The environment variable HOLODECKPATH can be set to override the default location given above.

Caution

If HOLODECKPATH is used, it will override this version partitioning, so ensure that HOLODECKPATH only points to packages that are compatible with your version of BiguaSim.

Managing World Packages

The default option for managing packages is to use biguasim.install() and biguasim.remove(). These functions can be used to install and remove any packages managed by the BiguaSim team (currently only the SkyDive package).

Install a Package Automatically

The biguasim Python package includes a Package Manager that can be used independently. Below are some example usages, but see Package Manager for complete documentation.

>>> from biguasim import packagemanager
>>> packagemanager.installed_packages()
[]
>>> packagemanager.available_packages()
['SkyDive']
>>> packagemanager.install("SkyDive")
Installing SkyDive ver. 0.1.0 from https://robots.et.byu.edu/holo/Ocean/v0.1.0/Linux.zip #TODO
File size: 1.55 GB
|â–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆâ–ˆ| 100%
Unpacking worlds...
Finished.
>>> packagemanager.installed_packages()
['SkyDive']

Manually Installing a Package

Packages developed by users can be installed for use with the BiguaSim library. To manually install a package, you will be provided a .zip file. Extract it into the worlds folder in your BiguaSim installation location.

Note

Ensure that the file structure is as follows:

+ worlds
+-- YourManuallyInstalledPackage
|   +-- config.json
|    +-- etc...
+-- AnotherPackage
|   +-- config.json
|   +-- etc...

Not

+ worlds
+-- YourManuallyInstalledPackage
|   +-- YourManuallyInstalledPackage
|       +-- config.json
|   +-- etc...
+-- AnotherPackage
|   +-- config.json
|   +-- etc...

Print Information

There are several convenience functions provided to allow packages, worlds, and scenarios to be easily inspected.

>>> packagemanager.package_info("SkyDive")
Package: SkyDive
   Platform: Linux
   Version: 1.0.0
   Path: Linux/Biguasim/Binaries/Linux/Holodeck
   Worlds:
   Pier-Harbor:
         Scenarios:
         Pier-Harbor:
            Agents:
               Name: turtle0
               Type: DjiMatrice
               Sensors:
                  LocationSensor
                     lcm_channel: POSITION
                  RotationSensor
                     lcm_channel: ROTATION
                  RangeFinderSensor
                     lcm_channel: LIDAR
                     configuration
                        LaserCount: 64
                        LaserMaxDistance: 20
                        LaserAngle: 0
                        LaserDebug: True
         Rooms-IEKF:
            Agents:
               Name: uav0
               Type: UavAgent
               Sensors:
                  PoseSensor
                  VelocitySensor
                  IMUSensor
   Bridge:
         Scenarios:
         Bridge-AUV:
            Agents:
               Name: auv0
               Type: BlueROV2
               Sensors:
                  PoseSensor
                     socket: IMUSocket
                  VelocitySensor
                     socket: IMUSocket
                  IMUSensor
                     socket: IMUSocket
                  DVLSensor
                     socket: DVLSocket

You can also look for information for a specific world or scenario

packagemanager.world_info("Bridge")
packagemanager.scenario_info("Pier-Harbor")