nexus-uav 0.1.0__tar.gz

nexus_uav-0.1.0/LICENSE

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nexus_uav-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: nexus-uav
+Version: 0.1.0
+Summary: Flight stack simulation with Newton
+Keywords: newton,warp,openusd,flight-stack,drone,uav,px4,sitl,mavlink,simulation,robotics,reinforcement-learning
+Author: Peter Breuer
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: THIRD_PARTY_NOTICES.txt
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Classifier: Topic :: Software Development :: Testing
+Requires-Dist: newton[sim]==1.3.0
+Requires-Dist: warp-lang>=1.14.0,<1.16
+Requires-Dist: numpy
+Requires-Dist: pyyaml>=6.0.2
+Requires-Dist: pydantic>=2.0.0
+Requires-Dist: pymavlink>=2.4.49
+Requires-Dist: usd-core>=25.5,<26.5
+Requires-Dist: newton-usd-schemas>=0.3.1
+Requires-Dist: trimesh>=4.6.8
+Requires-Dist: scipy>=1.11.0
+Requires-Dist: rerun-sdk>=0.34.1,<0.35
+Requires-Dist: docker>=7.1.0
+Requires-Dist: casadi>=3.6,<=3.8.1 ; extra == 'acados'
+Requires-Dist: ruckig>=0.14 ; extra == 'acados'
+Requires-Dist: matplotlib ; extra == 'acados'
+Requires-Dist: deprecated ; extra == 'acados'
+Requires-Dist: nexus-uav[policy,examples] ; extra == 'all'
+Requires-Dist: ruckig>=0.14 ; extra == 'examples'
+Requires-Dist: torch ; extra == 'policy'
+Requires-Python: ==3.12.*
+Project-URL: Homepage, https://github.com/breuerpeter/nexus
+Project-URL: Documentation, https://breuerpeter.github.io/nexus/
+Project-URL: Repository, https://github.com/breuerpeter/nexus
+Project-URL: Issues, https://github.com/breuerpeter/nexus/issues
+Project-URL: Changelog, https://github.com/breuerpeter/nexus/blob/main/CHANGELOG.md
+Provides-Extra: acados
+Provides-Extra: all
+Provides-Extra: examples
+Provides-Extra: policy
+Description-Content-Type: text/markdown
+
+<img alt="The nexus logo: flight stack simulation with Newton" src="https://breuerpeter.github.io/nexus/assets/lockup-banner.svg" width="100%">
+
+<br />
+<br />
+
+[![PyPI](https://img.shields.io/pypi/v/nexus-uav.svg)](https://pypi.org/project/nexus-uav/)
+[![Docs](https://img.shields.io/badge/docs-breuerpeter.github.io-blue.svg)](https://breuerpeter.github.io/nexus/)
+
+[![lint](https://github.com/breuerpeter/nexus/actions/workflows/lint.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/lint.yml)
+[![cpu-pytest](https://github.com/breuerpeter/nexus/actions/workflows/cpu-pytest.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/cpu-pytest.yml)
+[![gpu-pytest](https://github.com/breuerpeter/nexus/actions/workflows/gpu-pytest.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/gpu-pytest.yml)
+[![docs](https://github.com/breuerpeter/nexus/actions/workflows/docs.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/docs.yml)
+[![codecov](https://codecov.io/gh/breuerpeter/nexus/branch/main/graph/badge.svg)](https://codecov.io/gh/breuerpeter/nexus)
+
+[![Newton](https://img.shields.io/badge/Newton-1.3.0-76b900.svg)](https://github.com/newton-physics/newton)
+[![Isaac Sim](https://img.shields.io/badge/Isaac%20Sim-6.0.1-76b900.svg?logo=nvidia&logoColor=white)](https://developer.nvidia.com/isaac/sim)
+[![Isaac Lab](https://img.shields.io/badge/Isaac%20Lab-3.0.0b2-76b900.svg?logo=nvidia&logoColor=white)](https://github.com/isaac-sim/IsaacLab)
+[![Rerun](https://img.shields.io/badge/Rerun-0.34.1-1a1a1a.svg?logo=data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACAAAAAgCAYAAABzenr0AAAJb0lEQVR4Aa1Xa4xdVRX%2Bztn7nHPf986D6TQtdKjQWCgKFSEGSWrAkAZ%2BEMVqjA9ICL9QQX%2BYmJiYGIM%2FTIgkRvxh0OA7KgU1xvhIH2gLKK0QtA%2Bhr5lOOzPtfd97nvv4rX3HiZdaTIwns%2Bfcc87ee631rW89tgNei4uPzeWZ91QG98bcQcPARZYDKQffIbXPDozD3wbgH3I49p3D344jTw5nGf43UHzn8kOew75J%2BCWWYVx4fF9FvHsqiB69ev2jJ53hicfmUpUccvK8ISscI1I5cmPvueJ2novcdUWSFWwcEctHPsmVOyNprtwNRRpj38Pka7dEeRi6PjrwrUEVpK2Sh5u0MeHjjus2Uu0jyhVSbpJBI%2BMqsSjm7yFtSo1rLbfoGMcKl61kVmRtptVWPUARESVI6BwF2l%2FLQpSHAxR6bdQrBQzLRSSu1%2FCy9CnN%2BfcarddgiozCkIqEoMZm9E6EpjkFQ1yiLKwCvwWKEl1rvQBkqG5uFfFECaKo8gIBrGCiHGEjVoCj51GoBCheVUde8G%2FUApebZii4OQITwslFQE5BFOBqa7XDjSzszsjLOUa%2BjcVyvvb43RWX%2FUsZUdm6kzvxHhP6NkpYLjcwM9NH9OdF6KU%2BvGsnGzoPUzgRbeNwNXcIPHsXUPM4tP5NXTVyp6Jtjozc8qFqUgt6TEUdy7jc3kVheocKJFBkctC5iOpMFZ1KHdGGSeiFDgYvn4N%2FcQhtOhHyATcKM3EeHF%2BGhlujr6YaQDdEdjGy8FuOC%2BbiaApamJpGmTj4y11ajNEMQcAIGTM7R%2Fku1LoJ6NfOor4pQjzTgN42C%2B9UF%2BEry1SgFSNrhzC9CJP3PynxxQDIkcwfhdr3DRTe8TEE77xlxOoRqdeu2r7Pw2%2Fs4Jydl35cjZPkwgJ6f%2BO%2BG%2BsIXzqL4Dqy6so6Cu%2BeRXS6DZ11aGEzRHpxAMcrrS4D9PotUFsfQnHbrbjcVdhwHwo37MBbXUFpCwXtRHzmZ9yzgsH%2BM1wTwp%2Bro7R9Bq4V3uK4MBxbqMoV1G669S03v0Q4IU8Hw0vm1W57P5zgDuTMYqrqo7f3DMLD561C5EAM046QNqPLycHwyF8RnXoVWdS1zG7cdT%2FcYnnte7w4j%2BZvvgOnsESCJsiGir7fgsaduxDMzNo5U%2Fd8CEs%2F6UE19gOncnT2zqN8MxFIiUBGJdJO8h%2BFX%2Fjh1%2Bi7r0PNHYcqHYE3NTUmvPmnPejt%2Bwr8TU10Tnew8koP4XIfwcQxtJ%2F5Ii4cPLA2d2bXAxi0roF3ZQ1RO0P%2F8Ao5QAWSboIwci4RvvKDbyL9x0ESgt8Ki8jCOTQ%2B%2FpG179HZs4hf%2By68eoBDT5zBkjuFjGEqO00fvICbdjKSnv8WhnObUZxdZ9esf%2FARHP%2FsR1kQiugvMQzTdowkBHomGBOeZ9TwwF44SRdL5xQ2Mu35V799bM75555G7eb11LSLGz9YYxmIIdVKoihPmE%2FKGpUri1j86few%2BeHP2TW6VGK29eEwPySJho76BmHmoafrY5v3Xz%2BO%2FunzNuGsmEmsW%2BmQNONuKk2uR%2FdQ1UagTQ32n3BxNVu2mbRaOYo1NbYuTZhPUs3aE0D3U%2BZ8p4ieP64AszN6SWDrQBQESFYYOpEZmzO96xP4X640ZvbMWG88H7pLy0MnQMctj03KHIWWbtjCkkpF7LCyxfi%2FXHHmstBJlfWg25rtgVtAT1XGJhlHU4G6FGbEVLBtSigaPTanffQIWgsrkOJr8z9%2F2dbEGblBGhhJz8V0YAubVLZY%2BRgmrLiUOdBUoEMhkUMOeNWxzaVpuOhNoMQKKb%2BbegJ1VRqfkxi0v%2F0YprdWEJ3pElpbO20nJET0Jph0Wg462%2B%2B2USBKiiKRG6BH%2Fw%2FdInRLVZFSq677ps3pgi55kZIj0pZJkzExGOfA1LbrcGbbDoSL%2B3FyuYw%2F1m5DW9WgGA3bo1fxrv4JLBWvxx2fepCV3F1b9%2FKz%2BxAyCoaambDt1WGUpgvGEZCuqMnNQsen1h6itIDs8EkUfvxrbP%2FwzrV513%2F6YRz9%2FgwKZ5%2FFPYPfIWFD4%2BYpQkI8P3kr3vuFz4wJX3hjCSlbgGZpms1KDi3sF1%2F130xCKtWhcrEpIFQFFKit%2BPbg7ueJjodbdt1p53lsr7Y99Em0774LC4f%2Bjog5IaiXsOmaDbjihq1jex55ZR7Pf%2FkJFN0E5%2FxZXDN4XUhYs92L%2BGWMhIR9oMsSDuzffBLRQ0n1qXWKF3bvt758z3071ubXN8zacbnrL3tfw4tP%2FgiaYLxQvQWz4SKmQvYDfVrmcdOEAv79yleHMKqSsG6z6fNNxGbD2IRz4BkiQdfc%2FoHb8N%2BuF3%2F5Al56%2BjkYdlaH6tuxcTiPucEpdGm8FiamkkKJ789%2FexLCYulqWhd7LJUZQy9C2QzhpzFKaX%2FUN8r5gF30nt0H0WQpn5ydtPlCXCnhl%2FKekEMicOV8F61f%2FcIS%2Blh1C%2Bb6J7EpPI0On%2FdcsQPOzkcO5DpLEOTRqO%2Bn2T4RKWYDVLIehfYQZJFFqZgxdbDzVVlsEet6NRvCQjHN%2Fk9zjmafKCSUPSQ%2FiyJLpfU47W%2FA24ZvYDMjo0Vu%2FX76fThWuVYQKMClj0MWo0Iui7nEwiz9PptsJqiIczSFSncrWd4jiaTf15wr7bxhGA84YnbUidxVkdHDyGECy3gg8YjwJkJ%2BVbiAc4VZ%2FIHCT1TnUAtb3Jd%2BTAV4LkipQMBsJ41nxhKsEciRxLpEezwR0DqpN%2BKGqiEyydBC7xIhRYV9IUc%2BhEla1gAhsvwvJ32U8wFOFK%2FCvunbsVicRTXqYTOV0gMnaDHVNEbHDvpfjY5emfHgaELKBGSTrCPnQ2XPgVUzQD%2Fu8iwR0nUjJESQyiV7GKnlVDy3CUnOEs1gCq%2F61%2BFI43q06Pt63MHVvRO4Il6iArp8WJlkh%2BDg0UIRol05RLKt4shWDykp4ZfzncpSGx0pz4sDQu2u5n8hoLHzlc2iCcM05QhJ8p5XQZ9pXJE%2Fs8Pz2DiYx2Tc5Df%2FWZ0HzgNRVjyUmqyRigVUQkgm5z7HSS3BhM1JbsFGwHCUhsLluU%2Bxrjt8Tli4EiariPeYmVO4ImtEIXta4p7romVa3sR02mREhVj2p1oDTz9i%2B7C5LzXnCN%2FjKjP3CowOw0%2FOdtIViYB8NSkoZ6SgT2gLDE8hl4SqzZyrKDjO6BArx3Q5aXuyZjXKFO9UrNX0Jg6HxYkH9nx168l%2FAnmCoXr8L2ceAAAAAElFTkSuQmCC&logoColor=white)](https://rerun.io)
+[![Python](https://img.shields.io/pypi/pyversions/nexus-uav.svg)](https://pypi.org/project/nexus-uav/)
+
+Built on [Newton](https://github.com/newton-physics/newton), [Warp](https://github.com/NVIDIA/warp)
+and [OpenUSD](https://openusd.org/), nexus lets you develop drone subsystems and test them as part of
+the full flight stack.
+
+## What nexus adds to Newton
+
+- **One deterministic loop.** Each tick runs the sensors, the flight stack and Newton's step, always in
+  that order. On a GPU the tick replays as CUDA graphs. On CPU a flight with the Proportional Integral
+  Derivative (PID) controller repeats bit for bit, which a CI gate checks.
+  [Execution](https://breuerpeter.github.io/nexus/design/execution/)
+- **Components you can swap.** Sensors, estimators, guidance, controllers, and force elements fill
+  fixed roles under one contract. Write your own, declare it in the vehicle's
+  Universal Scene Description (USD) file beside Newton's physics, and the loop runs it as it runs the
+  shipped ones.
+  [Your own component](https://breuerpeter.github.io/nexus/guide/your-own-component/)
+- **PX4 in lockstep.** PX4 Software In The Loop (SITL) flies the vehicle in MAVLink lockstep with the
+  loop. QGroundControl and offboard scripts connect through the run's links.
+  [Running SITL flights](https://breuerpeter.github.io/nexus/guide/running/)
+- **RTX sensors from Isaac Sim.** A vehicle that declares a camera or lidar starts an Isaac Sim
+  container beside the loop. It renders each frame at the loop's poses, and the loop never runs inside
+  Isaac Sim. [RTX cameras and lidar](https://breuerpeter.github.io/nexus/guide/running/#rtx-cameras-and-lidar)
+- **One vehicle file, three uses.** PX4 flies the vehicle's USD file in CI, Isaac Lab trains a policy on
+  the same file, and the design examples take gradients through Newton from it. A catalog pins each
+  vehicle and scene by its hash. [Examples](https://breuerpeter.github.io/nexus/examples/)
+- **Every tick recorded.** The Recorder keeps every row of a run, and the Logger writes it to a Rerun
+  recording. [Logging](https://breuerpeter.github.io/nexus/reference/api/logging/)
+
+## Installation
+
+The framework requires **Python 3.12**, **Linux**, and a **CUDA-capable GPU**. It ships
+on PyPI:
+
+```bash
+pip install nexus-uav
+```
+
+Optional extras: `policy` adds PyTorch, `examples` adds jerk-limited trajectories,
+`acados` adds Nonlinear Model Predictive Control (NMPC) code generation, and `all` equals
+`policy` plus `examples`.
+
+Development uses [`uv`](https://docs.astral.sh/uv/):
+
+```bash
+git clone https://github.com/breuerpeter/nexus.git
+cd nexus
+uv sync                 # install the framework
+uv run nexus run --vehicle astro_max_base --scene empty   # fly a vehicle against PX4 SITL
+```
+
+## Quickstart
+
+Run the command-line tool with a vehicle and a scene. `astro_max_base` declares PX4 as its controller, and `empty` is flat ground:
+
+```bash
+uv run nexus run --vehicle astro_max_base --scene empty
+```
+
+Run a self-contained example. Every example records a Rerun `.rrd`, and `--list` names them:
+
+```bash
+uv run -m nexus_uav.examples sampling_mpc
+```
+
+The decoupled SITL flight workflow, nexus plus PX4 SITL plus QGroundControl, with the
+port map, lives in [Running a SITL flight](https://breuerpeter.github.io/nexus/guide/running/).
+
+## Documentation
+
+The full docs, with the design, the guide, the examples and the API reference, are at
+**<https://breuerpeter.github.io/nexus/>**.
+
+## Contributing
+
+Contributions are welcome. See [Contributing](https://breuerpeter.github.io/nexus/guide/contributing/)
+for setup and the conventional-commit / pre-commit workflow, and
+[Conventions](https://breuerpeter.github.io/nexus/design/conventions/) for the framework-versus-example rule.
+
+## License
+
+Licensed under the [Apache License 2.0](https://github.com/breuerpeter/nexus/blob/main/LICENSE). © 2026 Peter Breuer
+
+The hosted vehicle and scene assets and the Astro photograph in the banner aren't Apache-licensed. See [License](https://breuerpeter.github.io/nexus/license/).

nexus_uav-0.1.0/README.md

@@ -0,0 +1,102 @@
+<img alt="The nexus logo: flight stack simulation with Newton" src="https://breuerpeter.github.io/nexus/assets/lockup-banner.svg" width="100%">
+
+<br />
+<br />
+
+[![PyPI](https://img.shields.io/pypi/v/nexus-uav.svg)](https://pypi.org/project/nexus-uav/)
+[![Docs](https://img.shields.io/badge/docs-breuerpeter.github.io-blue.svg)](https://breuerpeter.github.io/nexus/)
+
+[![lint](https://github.com/breuerpeter/nexus/actions/workflows/lint.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/lint.yml)
+[![cpu-pytest](https://github.com/breuerpeter/nexus/actions/workflows/cpu-pytest.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/cpu-pytest.yml)
+[![gpu-pytest](https://github.com/breuerpeter/nexus/actions/workflows/gpu-pytest.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/gpu-pytest.yml)
+[![docs](https://github.com/breuerpeter/nexus/actions/workflows/docs.yml/badge.svg?branch=main)](https://github.com/breuerpeter/nexus/actions/workflows/docs.yml)
+[![codecov](https://codecov.io/gh/breuerpeter/nexus/branch/main/graph/badge.svg)](https://codecov.io/gh/breuerpeter/nexus)
+
+[![Newton](https://img.shields.io/badge/Newton-1.3.0-76b900.svg)](https://github.com/newton-physics/newton)
+[![Isaac Sim](https://img.shields.io/badge/Isaac%20Sim-6.0.1-76b900.svg?logo=nvidia&logoColor=white)](https://developer.nvidia.com/isaac/sim)
+[![Isaac Lab](https://img.shields.io/badge/Isaac%20Lab-3.0.0b2-76b900.svg?logo=nvidia&logoColor=white)](https://github.com/isaac-sim/IsaacLab)
+[![Rerun](https://img.shields.io/badge/Rerun-0.34.1-1a1a1a.svg?logo=data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACAAAAAgCAYAAABzenr0AAAJb0lEQVR4Aa1Xa4xdVRX%2Bztn7nHPf986D6TQtdKjQWCgKFSEGSWrAkAZ%2BEMVqjA9ICL9QQX%2BYmJiYGIM%2FTIgkRvxh0OA7KgU1xvhIH2gLKK0QtA%2Bhr5lOOzPtfd97nvv4rX3HiZdaTIwns%2Bfcc87ee631rW89tgNei4uPzeWZ91QG98bcQcPARZYDKQffIbXPDozD3wbgH3I49p3D344jTw5nGf43UHzn8kOew75J%2BCWWYVx4fF9FvHsqiB69ev2jJ53hicfmUpUccvK8ISscI1I5cmPvueJ2novcdUWSFWwcEctHPsmVOyNprtwNRRpj38Pka7dEeRi6PjrwrUEVpK2Sh5u0MeHjjus2Uu0jyhVSbpJBI%2BMqsSjm7yFtSo1rLbfoGMcKl61kVmRtptVWPUARESVI6BwF2l%2FLQpSHAxR6bdQrBQzLRSSu1%2FCy9CnN%2BfcarddgiozCkIqEoMZm9E6EpjkFQ1yiLKwCvwWKEl1rvQBkqG5uFfFECaKo8gIBrGCiHGEjVoCj51GoBCheVUde8G%2FUApebZii4OQITwslFQE5BFOBqa7XDjSzszsjLOUa%2BjcVyvvb43RWX%2FUsZUdm6kzvxHhP6NkpYLjcwM9NH9OdF6KU%2BvGsnGzoPUzgRbeNwNXcIPHsXUPM4tP5NXTVyp6Jtjozc8qFqUgt6TEUdy7jc3kVheocKJFBkctC5iOpMFZ1KHdGGSeiFDgYvn4N%2FcQhtOhHyATcKM3EeHF%2BGhlujr6YaQDdEdjGy8FuOC%2BbiaApamJpGmTj4y11ajNEMQcAIGTM7R%2Fku1LoJ6NfOor4pQjzTgN42C%2B9UF%2BEry1SgFSNrhzC9CJP3PynxxQDIkcwfhdr3DRTe8TEE77xlxOoRqdeu2r7Pw2%2Fs4Jydl35cjZPkwgJ6f%2BO%2BG%2BsIXzqL4Dqy6so6Cu%2BeRXS6DZ11aGEzRHpxAMcrrS4D9PotUFsfQnHbrbjcVdhwHwo37MBbXUFpCwXtRHzmZ9yzgsH%2BM1wTwp%2Bro7R9Bq4V3uK4MBxbqMoV1G669S03v0Q4IU8Hw0vm1W57P5zgDuTMYqrqo7f3DMLD561C5EAM046QNqPLycHwyF8RnXoVWdS1zG7cdT%2FcYnnte7w4j%2BZvvgOnsESCJsiGir7fgsaduxDMzNo5U%2Fd8CEs%2F6UE19gOncnT2zqN8MxFIiUBGJdJO8h%2BFX%2Fjh1%2Bi7r0PNHYcqHYE3NTUmvPmnPejt%2Bwr8TU10Tnew8koP4XIfwcQxtJ%2F5Ii4cPLA2d2bXAxi0roF3ZQ1RO0P%2F8Ao5QAWSboIwci4RvvKDbyL9x0ESgt8Ki8jCOTQ%2B%2FpG179HZs4hf%2By68eoBDT5zBkjuFjGEqO00fvICbdjKSnv8WhnObUZxdZ9esf%2FARHP%2FsR1kQiugvMQzTdowkBHomGBOeZ9TwwF44SRdL5xQ2Mu35V799bM75555G7eb11LSLGz9YYxmIIdVKoihPmE%2FKGpUri1j86few%2BeHP2TW6VGK29eEwPySJho76BmHmoafrY5v3Xz%2BO%2FunzNuGsmEmsW%2BmQNONuKk2uR%2FdQ1UagTQ32n3BxNVu2mbRaOYo1NbYuTZhPUs3aE0D3U%2BZ8p4ieP64AszN6SWDrQBQESFYYOpEZmzO96xP4X640ZvbMWG88H7pLy0MnQMctj03KHIWWbtjCkkpF7LCyxfi%2FXHHmstBJlfWg25rtgVtAT1XGJhlHU4G6FGbEVLBtSigaPTanffQIWgsrkOJr8z9%2F2dbEGblBGhhJz8V0YAubVLZY%2BRgmrLiUOdBUoEMhkUMOeNWxzaVpuOhNoMQKKb%2BbegJ1VRqfkxi0v%2F0YprdWEJ3pElpbO20nJET0Jph0Wg462%2B%2B2USBKiiKRG6BH%2Fw%2FdInRLVZFSq677ps3pgi55kZIj0pZJkzExGOfA1LbrcGbbDoSL%2B3FyuYw%2F1m5DW9WgGA3bo1fxrv4JLBWvxx2fepCV3F1b9%2FKz%2BxAyCoaambDt1WGUpgvGEZCuqMnNQsen1h6itIDs8EkUfvxrbP%2FwzrV513%2F6YRz9%2FgwKZ5%2FFPYPfIWFD4%2BYpQkI8P3kr3vuFz4wJX3hjCSlbgGZpms1KDi3sF1%2F130xCKtWhcrEpIFQFFKit%2BPbg7ueJjodbdt1p53lsr7Y99Em0774LC4f%2Bjog5IaiXsOmaDbjihq1jex55ZR7Pf%2FkJFN0E5%2FxZXDN4XUhYs92L%2BGWMhIR9oMsSDuzffBLRQ0n1qXWKF3bvt758z3071ubXN8zacbnrL3tfw4tP%2FgiaYLxQvQWz4SKmQvYDfVrmcdOEAv79yleHMKqSsG6z6fNNxGbD2IRz4BkiQdfc%2FoHb8N%2BuF3%2F5Al56%2BjkYdlaH6tuxcTiPucEpdGm8FiamkkKJ789%2FexLCYulqWhd7LJUZQy9C2QzhpzFKaX%2FUN8r5gF30nt0H0WQpn5ydtPlCXCnhl%2FKekEMicOV8F61f%2FcIS%2Blh1C%2Bb6J7EpPI0On%2FdcsQPOzkcO5DpLEOTRqO%2Bn2T4RKWYDVLIehfYQZJFFqZgxdbDzVVlsEet6NRvCQjHN%2Fk9zjmafKCSUPSQ%2FiyJLpfU47W%2FA24ZvYDMjo0Vu%2FX76fThWuVYQKMClj0MWo0Iui7nEwiz9PptsJqiIczSFSncrWd4jiaTf15wr7bxhGA84YnbUidxVkdHDyGECy3gg8YjwJkJ%2BVbiAc4VZ%2FIHCT1TnUAtb3Jd%2BTAV4LkipQMBsJ41nxhKsEciRxLpEezwR0DqpN%2BKGqiEyydBC7xIhRYV9IUc%2BhEla1gAhsvwvJ32U8wFOFK%2FCvunbsVicRTXqYTOV0gMnaDHVNEbHDvpfjY5emfHgaELKBGSTrCPnQ2XPgVUzQD%2Fu8iwR0nUjJESQyiV7GKnlVDy3CUnOEs1gCq%2F61%2BFI43q06Pt63MHVvRO4Il6iArp8WJlkh%2BDg0UIRol05RLKt4shWDykp4ZfzncpSGx0pz4sDQu2u5n8hoLHzlc2iCcM05QhJ8p5XQZ9pXJE%2Fs8Pz2DiYx2Tc5Df%2FWZ0HzgNRVjyUmqyRigVUQkgm5z7HSS3BhM1JbsFGwHCUhsLluU%2Bxrjt8Tli4EiariPeYmVO4ImtEIXta4p7romVa3sR02mREhVj2p1oDTz9i%2B7C5LzXnCN%2FjKjP3CowOw0%2FOdtIViYB8NSkoZ6SgT2gLDE8hl4SqzZyrKDjO6BArx3Q5aXuyZjXKFO9UrNX0Jg6HxYkH9nx168l%2FAnmCoXr8L2ceAAAAAElFTkSuQmCC&logoColor=white)](https://rerun.io)
+[![Python](https://img.shields.io/pypi/pyversions/nexus-uav.svg)](https://pypi.org/project/nexus-uav/)
+
+Built on [Newton](https://github.com/newton-physics/newton), [Warp](https://github.com/NVIDIA/warp)
+and [OpenUSD](https://openusd.org/), nexus lets you develop drone subsystems and test them as part of
+the full flight stack.
+
+## What nexus adds to Newton
+
+- **One deterministic loop.** Each tick runs the sensors, the flight stack and Newton's step, always in
+  that order. On a GPU the tick replays as CUDA graphs. On CPU a flight with the Proportional Integral
+  Derivative (PID) controller repeats bit for bit, which a CI gate checks.
+  [Execution](https://breuerpeter.github.io/nexus/design/execution/)
+- **Components you can swap.** Sensors, estimators, guidance, controllers, and force elements fill
+  fixed roles under one contract. Write your own, declare it in the vehicle's
+  Universal Scene Description (USD) file beside Newton's physics, and the loop runs it as it runs the
+  shipped ones.
+  [Your own component](https://breuerpeter.github.io/nexus/guide/your-own-component/)
+- **PX4 in lockstep.** PX4 Software In The Loop (SITL) flies the vehicle in MAVLink lockstep with the
+  loop. QGroundControl and offboard scripts connect through the run's links.
+  [Running SITL flights](https://breuerpeter.github.io/nexus/guide/running/)
+- **RTX sensors from Isaac Sim.** A vehicle that declares a camera or lidar starts an Isaac Sim
+  container beside the loop. It renders each frame at the loop's poses, and the loop never runs inside
+  Isaac Sim. [RTX cameras and lidar](https://breuerpeter.github.io/nexus/guide/running/#rtx-cameras-and-lidar)
+- **One vehicle file, three uses.** PX4 flies the vehicle's USD file in CI, Isaac Lab trains a policy on
+  the same file, and the design examples take gradients through Newton from it. A catalog pins each
+  vehicle and scene by its hash. [Examples](https://breuerpeter.github.io/nexus/examples/)
+- **Every tick recorded.** The Recorder keeps every row of a run, and the Logger writes it to a Rerun
+  recording. [Logging](https://breuerpeter.github.io/nexus/reference/api/logging/)
+
+## Installation
+
+The framework requires **Python 3.12**, **Linux**, and a **CUDA-capable GPU**. It ships
+on PyPI:
+
+```bash
+pip install nexus-uav
+```
+
+Optional extras: `policy` adds PyTorch, `examples` adds jerk-limited trajectories,
+`acados` adds Nonlinear Model Predictive Control (NMPC) code generation, and `all` equals
+`policy` plus `examples`.
+
+Development uses [`uv`](https://docs.astral.sh/uv/):
+
+```bash
+git clone https://github.com/breuerpeter/nexus.git
+cd nexus
+uv sync                 # install the framework
+uv run nexus run --vehicle astro_max_base --scene empty   # fly a vehicle against PX4 SITL
+```
+
+## Quickstart
+
+Run the command-line tool with a vehicle and a scene. `astro_max_base` declares PX4 as its controller, and `empty` is flat ground:
+
+```bash
+uv run nexus run --vehicle astro_max_base --scene empty
+```
+
+Run a self-contained example. Every example records a Rerun `.rrd`, and `--list` names them:
+
+```bash
+uv run -m nexus_uav.examples sampling_mpc
+```
+
+The decoupled SITL flight workflow, nexus plus PX4 SITL plus QGroundControl, with the
+port map, lives in [Running a SITL flight](https://breuerpeter.github.io/nexus/guide/running/).
+
+## Documentation
+
+The full docs, with the design, the guide, the examples and the API reference, are at
+**<https://breuerpeter.github.io/nexus/>**.
+
+## Contributing
+
+Contributions are welcome. See [Contributing](https://breuerpeter.github.io/nexus/guide/contributing/)
+for setup and the conventional-commit / pre-commit workflow, and
+[Conventions](https://breuerpeter.github.io/nexus/design/conventions/) for the framework-versus-example rule.
+
+## License
+
+Licensed under the [Apache License 2.0](https://github.com/breuerpeter/nexus/blob/main/LICENSE). © 2026 Peter Breuer
+
+The hosted vehicle and scene assets and the Astro photograph in the banner aren't Apache-licensed. See [License](https://breuerpeter.github.io/nexus/license/).

nexus_uav-0.1.0/THIRD_PARTY_NOTICES.txt

@@ -0,0 +1,109 @@
+Third-party notices
+===================
+
+nexus_uav/_src/core/geomag.py
+------------------------------
+
+The World Magnetic Model tables and the lookup scheme come from PX4's geo_mag_declination.cpp
+(https://github.com/PX4/PX4-Autopilot), ported via PegasusSimulator
+(https://github.com/PegasusSimulator/PegasusSimulator). Both are distributed under the BSD-3-Clause
+license, whose notice follows verbatim.
+
+Copyright (c) 2014-2022 PX4 Development Team. All rights reserved.
+Copyright (c) 2023, Marcelo Fialho Jacinto. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted
+provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of
+   conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice, this list of
+   conditions and the following disclaimer in the documentation and/or other materials
+   provided with the distribution.
+3. Neither the name PX4 nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS
+OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+OF THE POSSIBILITY OF SUCH DAMAGE.
+
+scripts/ci/discover_aws_runner_config.py
+----------------------------------------
+
+Adapted from scripts/ci/discover_aws_runner_config.py in Newton
+(https://github.com/newton-physics/newton), distributed under the Apache License, Version 2.0, the
+license of this project, whose text is in LICENSE.
+
+Copyright (c) 2026 The Newton Developers
+
+docs/javascripts/model-viewer.min.js
+------------------------------------
+
+The minified bundle of Google's model-viewer (https://github.com/google/model-viewer), distributed
+under the Apache License, Version 2.0, whose text is in LICENSE. The bundle carries the notices of
+its parts in its own comments.
+
+Copyright 2019-2023 Google LLC. All Rights Reserved.
+
+It bundles Lit (https://github.com/lit/lit), distributed under the BSD-3-Clause license, whose
+notice follows verbatim.
+
+Copyright 2017-2021 Google LLC
+
+Redistribution and use in source and binary forms, with or without modification, are permitted
+provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of
+   conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice, this list of
+   conditions and the following disclaimer in the documentation and/or other materials
+   provided with the distribution.
+3. Neither the name of the copyright holder nor the names of its contributors may be used to
+   endorse or promote products derived from this software without specific prior written
+   permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS
+OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+OF THE POSSIBILITY OF SUCH DAMAGE.
+
+It bundles three.js r169 (https://github.com/mrdoob/three.js), distributed under the MIT license,
+whose notice follows verbatim.
+
+Copyright 2010-2024 Three.js Authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+associated documentation files (the "Software"), to deal in the Software without restriction,
+including without limitation the rights to use, copy, modify, merge, publish, distribute,
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or
+substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
+NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
+OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+scripts/logo/OFL.txt
+------------------
+
+The license of the Michroma font, scripts/logo/Michroma-Regular.ttf
+(https://github.com/googlefonts/Michroma-font), which the logo scripts render. The font is
+distributed under the SIL Open Font License, Version 1.1, whose text and copyright notice
+scripts/logo/OFL.txt holds.
+
+Copyright 2011 The Michroma Project Authors