Upload v2d project (excluding data and .venv) (part 16)

a0ea4e3 verified about 2 months ago

2.64 kB

# 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()

	# 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()