# 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
[文档]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>`__.
"""
[文档] 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
"""
[文档] 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)
[文档] 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
[文档] 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,
}
