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SimPublisher

Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12

A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.

Community & Support

We now have a Discord community channel! 🎉
If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.

👉 Discord Channel:https://discord.gg/snZKtnqjE5

Table of Contents

Introduction

Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly? This repository is perfect for you.

We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.

This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.

Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2. These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.

Features

Easy Connection to Headset

  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.

Supported Simulation Environments

Supported Headsets

Installation

Clone and install this repository:

git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .

or add the following line to your requirements.txt / package dependencies:

simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage

  1. Deploy the Unity application to your headset with the device name. Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation

  2. Connect your simulation PC and headset to the same subnet. For example, if your simulation PC address is 192.168.0.152, the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73. We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity. Additionally, using a wired cable to connect your PC can significantly reduce latency.

  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!

Isaac Sim

Please check this readme for information on how to set up SimPub with Isaac Sim.

About

A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.

intuitive-robots.github.io/iris-project-page/introduction/overview.html

Resources

Readme
Apache-2.0 license
Activity
Custom properties

Stars

44 stars

Watchers

4 watching

Forks

14 forks
Report repository

Releases

Packages

Used by

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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SimPublisher
Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12
A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.
Community & Support
We now have a Discord community channel! 🎉

If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.
👉 Discord Channel:https://discord.gg/snZKtnqjE5
Table of Contents
Introduction
Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly?
This repository is perfect for you.
We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.
This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.
Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2.
These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.
Features
Easy Connection to Headset
  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.
Supported Simulation Environments
Supported Headsets
Installation
Clone and install this repository:
git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .
or add the following line to your requirements.txt / package dependencies:
simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage
  1. Deploy the Unity application to your headset with the device name.
Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation
  2. Connect your simulation PC and headset to the same subnet.
For example, if your simulation PC address is 192.168.0.152,
the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73.
We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity.
Additionally, using a wired cable to connect your PC can significantly reduce latency.
  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!
Isaac Sim
Please check this readme for information on how to set up SimPub with Isaac Sim.
About
A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.
intuitive-robots.github.io/iris-project-page/introduction/overview.html
Resources
Readme
Apache-2.0 license
Activity
Custom properties
Stars
44 stars
Watchers
4 watching
Forks
14 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
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SimPublisher
Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12
A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.
Community & Support
We now have a Discord community channel! 🎉

If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.
👉 Discord Channel:https://discord.gg/snZKtnqjE5
Table of Contents
Introduction
Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly?
This repository is perfect for you.
We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.
This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.
Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2.
These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.
Features
Easy Connection to Headset
  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.
Supported Simulation Environments
Supported Headsets
Installation
Clone and install this repository:
git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .
or add the following line to your requirements.txt / package dependencies:
simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage
  1. Deploy the Unity application to your headset with the device name.
Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation
  2. Connect your simulation PC and headset to the same subnet.
For example, if your simulation PC address is 192.168.0.152,
the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73.
We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity.
Additionally, using a wired cable to connect your PC can significantly reduce latency.
  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!
Isaac Sim
Please check this readme for information on how to set up SimPub with Isaac Sim.
About
A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.
intuitive-robots.github.io/iris-project-page/introduction/overview.html
Resources
Readme
Apache-2.0 license
Activity
Custom properties
Stars
44 stars
Watchers
4 watching
Forks
14 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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SimPublisher
Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12
A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.
Community & Support
We now have a Discord community channel! 🎉

If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.
👉 Discord Channel:https://discord.gg/snZKtnqjE5
Table of Contents
Introduction
Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly?
This repository is perfect for you.
We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.
This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.
Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2.
These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.
Features
Easy Connection to Headset
  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.
Supported Simulation Environments
Supported Headsets
Installation
Clone and install this repository:
git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .
or add the following line to your requirements.txt / package dependencies:
simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage
  1. Deploy the Unity application to your headset with the device name.
Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation
  2. Connect your simulation PC and headset to the same subnet.
For example, if your simulation PC address is 192.168.0.152,
the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73.
We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity.
Additionally, using a wired cable to connect your PC can significantly reduce latency.
  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!
Isaac Sim
Please check this readme for information on how to set up SimPub with Isaac Sim.
About
A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.
intuitive-robots.github.io/iris-project-page/introduction/overview.html
Resources
Readme
Apache-2.0 license
Activity
Custom properties
Stars
44 stars
Watchers
4 watching
Forks
14 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
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SimPublisher
Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12
A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.
Community & Support
We now have a Discord community channel! 🎉

If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.
👉 Discord Channel:https://discord.gg/snZKtnqjE5
Table of Contents
Introduction
Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly?
This repository is perfect for you.
We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.
This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.
Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2.
These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.
Features
Easy Connection to Headset
  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.
Supported Simulation Environments
Supported Headsets
Installation
Clone and install this repository:
git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .
or add the following line to your requirements.txt / package dependencies:
simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage
  1. Deploy the Unity application to your headset with the device name.
Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation
  2. Connect your simulation PC and headset to the same subnet.
For example, if your simulation PC address is 192.168.0.152,
the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73.
We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity.
Additionally, using a wired cable to connect your PC can significantly reduce latency.
  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!
Isaac Sim
Please check this readme for information on how to set up SimPub with Isaac Sim.
About
A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.
intuitive-robots.github.io/iris-project-page/introduction/overview.html
Resources
Readme
Apache-2.0 license
Activity
Custom properties
Stars
44 stars
Watchers
4 watching
Forks
14 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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SimPublisher
Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12
A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.
Community & Support
We now have a Discord community channel! 🎉

If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.
👉 Discord Channel:https://discord.gg/snZKtnqjE5
Table of Contents
Introduction
Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly?
This repository is perfect for you.
We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.
This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.
Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2.
These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.
Features
Easy Connection to Headset
  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.
Supported Simulation Environments
Supported Headsets
Installation
Clone and install this repository:
git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .
or add the following line to your requirements.txt / package dependencies:
simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage
  1. Deploy the Unity application to your headset with the device name.
Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation
  2. Connect your simulation PC and headset to the same subnet.
For example, if your simulation PC address is 192.168.0.152,
the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73.
We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity.
Additionally, using a wired cable to connect your PC can significantly reduce latency.
  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!
Isaac Sim
Please check this readme for information on how to set up SimPub with Isaac Sim.
About
A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.
intuitive-robots.github.io/iris-project-page/introduction/overview.html
Resources
Readme
Apache-2.0 license
Activity
Custom properties
Stars
44 stars
Watchers
4 watching
Forks
14 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
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SimPublisher
Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12
A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.
Community & Support
We now have a Discord community channel! 🎉

If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.
👉 Discord Channel:https://discord.gg/snZKtnqjE5
Table of Contents
Introduction
Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly?
This repository is perfect for you.
We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.
This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.
Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2.
These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.
Features
Easy Connection to Headset
  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.
Supported Simulation Environments
Supported Headsets
Installation
Clone and install this repository:
git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .
or add the following line to your requirements.txt / package dependencies:
simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage
  1. Deploy the Unity application to your headset with the device name.
Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation
  2. Connect your simulation PC and headset to the same subnet.
For example, if your simulation PC address is 192.168.0.152,
the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73.
We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity.
Additionally, using a wired cable to connect your PC can significantly reduce latency.
  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!
Isaac Sim
Please check this readme for information on how to set up SimPub with Isaac Sim.
About
A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.
intuitive-robots.github.io/iris-project-page/introduction/overview.html
Resources
Readme
Apache-2.0 license
Activity
Custom properties
Stars
44 stars
Watchers
4 watching
Forks
14 forks
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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SimPublisher
Python 3.7Python 3.8Python 3.9Python 3.10Python 3.11Python 3.12
A versatile Python tool designed to seamlessly render objects from simulations or sensors to Mixed Reality (MR) and Augmented Reality (AR) headsets.
Community & Support
We now have a Discord community channel! 🎉

If you have questions, feedback, or want to get involved, feel free to join us and chat with the team.
👉 Discord Channel:https://discord.gg/snZKtnqjE5
Table of Contents
Introduction
Are you looking to integrate your Human-Robot Interaction (HRI) application with MR/VR/AR headsets effortlessly?
This repository is perfect for you.
We provide a ROS-style interface that allows you to easily use Python code to project simulation scenes onto MR headsets. Additionally, you can use input data from the headset to control virtual robots and objects within the simulation environment or even real robots.
This repository uses ZMQ to communicate with MR applications, featuring automatic device discovery and reconnecting capabilities.
Currently we support two hardware platforms including Meta Quest 3 and HoloLens 2.
These applications are built based on a Unity Package named IRIS-Viz, which is a Unity Package that is easy to deploy for projecting and updating simulation scenes in MR headsets.
Features
Easy Connection to Headset
  • Automatic Device Discovery: SimPub will search for all devices in the subnet and connect to them fully automatically.
  • Auto-Reconnecting: Automatically reconnects to the PC if you shutdown the Python script.
  • Remote Logger: The log will be sent to the PC simulation, including FPS and latency information.
Supported Simulation Environments
Supported Headsets
Installation
Clone and install this repository:
git clone https://github.com/intuitive-robots/SimPublisher.git
cd SimPublisher
pip install -e .
or add the following line to your requirements.txt / package dependencies:
simpub @ git+https://github.com/intuitive-robots/SimPublisher.git

Usage
  1. Deploy the Unity application to your headset with the device name.
Please refer to the IRIS-Viz and the Meta Quest 3 deployment documentation
  2. Connect your simulation PC and headset to the same subnet.
For example, if your simulation PC address is 192.168.0.152,
the headset address should share the same prefix, such as 192.168.0.142 or 192.168.0.73.
We recommend using a single WiFi router for PC-headset communication to ensure optimal connectivity.
Additionally, using a wired cable to connect your PC can significantly reduce latency.
  3. Run the usage examples under the folder demos/, then wear the headset, start the Unity application and enjoy!
Isaac Sim
Please check this readme for information on how to set up SimPub with Isaac Sim.
About
A cross-environment tool to publish objects from simulation for Augmented Reality and Human Robot Interaction.
intuitive-robots.github.io/iris-project-page/introduction/overview.html
Resources
Readme
Apache-2.0 license
Activity
Custom properties
Stars
44 stars
Watchers
4 watching
Forks
14 forks
Report repository
Releases
Packages
Used by
Contributors
Languages