File size: 2,641 Bytes
a0ea4e3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script shows how to use a teleoperation device with Isaac Sim.
The teleoperation device is a keyboard device that allows the user to control the robot.
It is possible to add additional callbacks to it for user-defined operations.
"""
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
app_launcher = AppLauncher()
simulation_app = app_launcher.app
"""Rest everything follows."""
import sys
from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg
from isaaclab.sim import SimulationCfg, SimulationContext
def print_cb():
"""Dummy callback function executed when the key 'L' is pressed."""
print("Print callback")
def quit_cb():
"""Dummy callback function executed when the key 'ESC' is pressed."""
print("Quit callback")
simulation_app.close()
def main():
# Load kit helper
sim = SimulationContext(SimulationCfg(dt=0.01))
# Create teleoperation interface
teleop_interface = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.1, rot_sensitivity=0.1))
# Add teleoperation callbacks
# available key buttons: https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput
teleop_interface.add_callback("L", print_cb)
teleop_interface.add_callback("ESCAPE", quit_cb)
print("Press 'L' to print a message. Press 'ESC' to quit.")
# Check that the framework doesn't hold excessive strong references.
if sys.getrefcount(teleop_interface) >= 10:
raise RuntimeError("Possible reference leak for teleoperation interface.")
# Reset interface internals
teleop_interface.reset()
# Play simulation
sim.reset()
# Simulate
while simulation_app.is_running():
# If simulation is stopped, then exit.
if sim.is_stopped():
break
# If simulation is paused, then skip.
if not sim.is_playing():
sim.step()
continue
# get keyboard command
delta_pose, gripper_command = teleop_interface.advance()
# print command
if gripper_command:
print(f"Gripper command: {gripper_command}")
# step simulation
sim.step()
# check if simulator is stopped
if sim.is_stopped():
break
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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