ui_utils
Helper classes and functions for streamlining user interactions
CameraMover
A helper class for manipulating a camera via the keyboard. Utilizes carb keyboard callbacks to move the camera around.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
cam |
VisionSensor
|
The camera vision sensor to manipulate via the keyboard |
required |
delta |
float
|
Change (m) per keypress when moving the camera |
0.25
|
Source code in utils/ui_utils.py
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input_to_command
property
Returns:
Name | Type | Description |
---|---|---|
dict | Mapping from relevant keypresses to corresponding delta command to apply to the camera pose |
input_to_function
property
Returns:
Name | Type | Description |
---|---|---|
dict | Mapping from relevant keypresses to corresponding function call to use |
print_cam_pose()
print_info()
Prints keyboard command info out to the user
Source code in utils/ui_utils.py
set_cam(cam)
Sets the active camera sensor for this CameraMover
Parameters:
Name | Type | Description | Default |
---|---|---|---|
cam |
VisionSensor
|
The camera vision sensor to manipulate via the keyboard |
required |
set_delta(delta)
Sets the delta value (how much the camera moves with each keypress) for this CameraMover
Parameters:
Name | Type | Description | Default |
---|---|---|---|
delta |
float
|
Change (m) per keypress when moving the camera |
required |
KeyboardEventHandler
Simple singleton class for handing keyboard events
Source code in utils/ui_utils.py
add_keyboard_callback(key, callback_fn)
classmethod
Registers a keyboard callback function with omni, mapping a keypress from @key to run the callback_function @callback_fn
Parameters:
Name | Type | Description | Default |
---|---|---|---|
key |
carb.input.KeyboardInput
|
key to associate with the callback |
required |
callback_fn |
function
|
Callback function to call if the key @key is pressed or repeated. Note that this function's signature should be: callback_fn() --> None |
required |
Source code in utils/ui_utils.py
initialize()
classmethod
Hook up a meta function callback to the omni backend
Source code in utils/ui_utils.py
reset()
classmethod
Resets this callback interface by removing all current callback functions
Source code in utils/ui_utils.py
KeyboardRobotController
Simple class for controlling OmniGibson robots using keyboard commands
Source code in utils/ui_utils.py
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__init__(robot)
Parameters:
Name | Type | Description | Default |
---|---|---|---|
robot |
BaseRobot
|
robot to control |
required |
Source code in utils/ui_utils.py
generate_ik_keypress_mapping(controller_info)
Generates a dictionary for keypress mappings for IK control, based on the inputted @controller_info
Parameters:
Name | Type | Description | Default |
---|---|---|---|
controller_info |
dict
|
Dictionary of controller information for the specific robot arm to control with IK |
required |
Returns:
Name | Type | Description |
---|---|---|
dict | Populated keypress mappings for IK to control the specified controller |
Source code in utils/ui_utils.py
get_random_action()
get_teleop_action()
Returns:
Type | Description |
---|---|
n-array: Generated action vector based on received user inputs from the keyboard |
Source code in utils/ui_utils.py
populate_keypress_mapping()
Populates the mapping @self.keypress_mapping, which maps keypresses to action info:
keypress:
idx: <int>
val: <float>
Source code in utils/ui_utils.py
print_keyboard_teleop_info()
staticmethod
Prints out relevant information for teleop controlling a robot
Source code in utils/ui_utils.py
register_keyboard_handler()
Sets up the keyboard callback functionality with omniverse
Source code in utils/ui_utils.py
choose_from_options(options, name, random_selection=False)
Prints out options from a list, and returns the requested option.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
options |
dict or list
|
options to choose from. If dict, the value entries are assumed to be docstrings explaining the individual options |
required |
name |
str
|
name of the options |
required |
random_selection |
bool
|
if the selection is random (for automatic demo execution). Default False |
False
|
Returns:
Name | Type | Description |
---|---|---|
str | Requested option |
Source code in utils/ui_utils.py
disclaimer(msg)
Prints a disclaimer message, i.e.: "We know this doesn't work; it's an omni issue; we expect it to be fixed in the next release!