Source code for omni.isaac.lab.devices.keyboard.se3_keyboard

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Keyboard controller for SE(3) control."""

import numpy as np
import weakref
from collections.abc import Callable
from scipy.spatial.transform import Rotation

import carb
import omni

from ..device_base import DeviceBase


[docs]class Se3Keyboard(DeviceBase): """A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close). This class is designed to provide a keyboard controller for a robotic arm with a gripper. It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot's task-space commands. The command comprises of two parts: * delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians. * gripper: a binary command to open or close the gripper. Key bindings: ============================== ================= ================= Description Key (+ve axis) Key (-ve axis) ============================== ================= ================= Toggle gripper (open/close) K Move along x-axis W S Move along y-axis A D Move along z-axis Q E Rotate along x-axis Z X Rotate along y-axis T G Rotate along z-axis C V ============================== ================= ================= .. seealso:: The official documentation for the keyboard interface: `Carb Keyboard Interface <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__. """
[docs] def __init__(self, pos_sensitivity: float = 0.4, rot_sensitivity: float = 0.8): """Initialize the keyboard layer. Args: pos_sensitivity: Magnitude of input position command scaling. Defaults to 0.05. rot_sensitivity: Magnitude of scale input rotation commands scaling. Defaults to 0.5. """ # store inputs self.pos_sensitivity = pos_sensitivity self.rot_sensitivity = rot_sensitivity # acquire omniverse interfaces self._appwindow = omni.appwindow.get_default_app_window() self._input = carb.input.acquire_input_interface() self._keyboard = self._appwindow.get_keyboard() # note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called. self._keyboard_sub = self._input.subscribe_to_keyboard_events( self._keyboard, lambda event, *args, obj=weakref.proxy(self): obj._on_keyboard_event(event, *args), ) # bindings for keyboard to command self._create_key_bindings() # command buffers self._close_gripper = False self._delta_pos = np.zeros(3) # (x, y, z) self._delta_rot = np.zeros(3) # (roll, pitch, yaw) # dictionary for additional callbacks self._additional_callbacks = dict()
def __del__(self): """Release the keyboard interface.""" self._input.unsubscribe_from_keyboard_events(self._keyboard, self._keyboard_sub) self._keyboard_sub = None def __str__(self) -> str: """Returns: A string containing the information of joystick.""" msg = f"Keyboard Controller for SE(3): {self.__class__.__name__}\n" msg += f"\tKeyboard name: {self._input.get_keyboard_name(self._keyboard)}\n" msg += "\t----------------------------------------------\n" msg += "\tToggle gripper (open/close): K\n" msg += "\tMove arm along x-axis: W/S\n" msg += "\tMove arm along y-axis: A/D\n" msg += "\tMove arm along z-axis: Q/E\n" msg += "\tRotate arm along x-axis: Z/X\n" msg += "\tRotate arm along y-axis: T/G\n" msg += "\tRotate arm along z-axis: C/V" return msg """ Operations """
[docs] def reset(self): # default flags self._close_gripper = False self._delta_pos = np.zeros(3) # (x, y, z) self._delta_rot = np.zeros(3) # (roll, pitch, yaw)
[docs] def add_callback(self, key: str, func: Callable): """Add additional functions to bind keyboard. A list of available keys are present in the `carb documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__. Args: key: The keyboard button to check against. func: The function to call when key is pressed. The callback function should not take any arguments. """ self._additional_callbacks[key] = func
[docs] def advance(self) -> tuple[np.ndarray, bool]: """Provides the result from keyboard event state. Returns: A tuple containing the delta pose command and gripper commands. """ # convert to rotation vector rot_vec = Rotation.from_euler("XYZ", self._delta_rot).as_rotvec() # return the command and gripper state return np.concatenate([self._delta_pos, rot_vec]), self._close_gripper
""" Internal helpers. """ def _on_keyboard_event(self, event, *args, **kwargs): """Subscriber callback to when kit is updated. Reference: https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html """ # apply the command when pressed if event.type == carb.input.KeyboardEventType.KEY_PRESS: if event.input.name == "L": self.reset() if event.input.name == "K": self._close_gripper = not self._close_gripper elif event.input.name in ["W", "S", "A", "D", "Q", "E"]: self._delta_pos += self._INPUT_KEY_MAPPING[event.input.name] elif event.input.name in ["Z", "X", "T", "G", "C", "V"]: self._delta_rot += self._INPUT_KEY_MAPPING[event.input.name] # remove the command when un-pressed if event.type == carb.input.KeyboardEventType.KEY_RELEASE: if event.input.name in ["W", "S", "A", "D", "Q", "E"]: self._delta_pos -= self._INPUT_KEY_MAPPING[event.input.name] elif event.input.name in ["Z", "X", "T", "G", "C", "V"]: self._delta_rot -= self._INPUT_KEY_MAPPING[event.input.name] # additional callbacks if event.type == carb.input.KeyboardEventType.KEY_PRESS: if event.input.name in self._additional_callbacks: self._additional_callbacks[event.input.name]() # since no error, we are fine :) return True def _create_key_bindings(self): """Creates default key binding.""" self._INPUT_KEY_MAPPING = { # toggle: gripper command "K": True, # x-axis (forward) "W": np.asarray([1.0, 0.0, 0.0]) * self.pos_sensitivity, "S": np.asarray([-1.0, 0.0, 0.0]) * self.pos_sensitivity, # y-axis (left-right) "A": np.asarray([0.0, 1.0, 0.0]) * self.pos_sensitivity, "D": np.asarray([0.0, -1.0, 0.0]) * self.pos_sensitivity, # z-axis (up-down) "Q": np.asarray([0.0, 0.0, 1.0]) * self.pos_sensitivity, "E": np.asarray([0.0, 0.0, -1.0]) * self.pos_sensitivity, # roll (around x-axis) "Z": np.asarray([1.0, 0.0, 0.0]) * self.rot_sensitivity, "X": np.asarray([-1.0, 0.0, 0.0]) * self.rot_sensitivity, # pitch (around y-axis) "T": np.asarray([0.0, 1.0, 0.0]) * self.rot_sensitivity, "G": np.asarray([0.0, -1.0, 0.0]) * self.rot_sensitivity, # yaw (around z-axis) "C": np.asarray([0.0, 0.0, 1.0]) * self.rot_sensitivity, "V": np.asarray([0.0, 0.0, -1.0]) * self.rot_sensitivity, }