isaaclab.envs.ui

Sub-module providing UI window implementation for environments.

The UI elements are used to control the environment and visualize the state of the environment. This includes functionalities such as tracking a robot in the simulation, toggling different debug visualization tools, and other user-defined functionalities.

Classes

BaseEnvWindow	Window manager for the basic environment.
ManagerBasedRLEnvWindow	Window manager for the RL environment.
ViewportCameraController	Deprecated compatibility shim for ViewportCameraController.

Base Environment UI

class isaaclab.envs.ui.BaseEnvWindow

Window manager for the basic environment.

This class creates a window that is used to control the environment. The window contains controls for rendering, debug visualization, and other environment-specific UI elements.

Users can add their own UI elements to the window by using the with context manager. This can be done either be inheriting the class or by using the env.window object directly from the standalone execution script.

Example for adding a UI element from the standalone execution script:

>>> with env.window.ui_window_elements["main_vstack"]:
>>>     ui.Label("My UI element")

Methods:

__init__(env[, window_name])

Initialize the window.

__init__(env: ManagerBasedEnv, window_name: str = 'IsaacLab')

Initialize the window.

参数:

• env -- The environment object.

• window_name -- The name of the window. Defaults to "IsaacLab".

Config Based RL Environment UI

class isaaclab.envs.ui.ManagerBasedRLEnvWindow

基类：BaseEnvWindow

Window manager for the RL environment.

On top of the basic environment window, this class adds controls for the RL environment. This includes visualization of the command manager.

Methods:

__init__(env[, window_name])

Initialize the window.

__init__(env: ManagerBasedRLEnv, window_name: str = 'IsaacLab')

Initialize the window.

参数:

• env -- The environment object.

• window_name -- The name of the window. Defaults to "IsaacLab".

Viewport Camera Controller

class isaaclab.envs.ui.ViewportCameraController

Deprecated compatibility shim for ViewportCameraController.

自 :class:`ViewportCameraController` 版本弃用: has been removed. Camera tracking is now built into KitVisualizer. Set origin_type, origin_track_path, eye, and lookat directly on KitVisualizerCfg and pass it to visualizer_cfgs.

Methods:

__init__(env, cfg)
set_view_env_index(env_index)	Deprecated.
update_view_to_world()	Deprecated.
update_view_to_env()	Deprecated.
update_view_to_asset_root(asset_name)	Deprecated.
update_view_to_asset_body(asset_name, body_name)	Deprecated.
update_view_location([eye, lookat])	Deprecated.

__init__(env: object, cfg: ViewerCfg)

set_view_env_index(env_index: int) → None

Deprecated. Update origin_env_index on the visualizer instead.

update_view_to_world() → None

Deprecated. Set origin_type='world' on KitVisualizerCfg instead.

update_view_to_env() → None

Deprecated. Set origin_type='env' on KitVisualizerCfg instead.

update_view_to_asset_root(asset_name: str) → None

Deprecated. Set origin_type='asset' and origin_track_path on KitVisualizerCfg instead.

update_view_to_asset_body(asset_name: str, body_name: str) → None

Deprecated. Set origin_type='asset' and origin_track_path on KitVisualizerCfg instead.

update_view_location(eye: tuple[float, float, float] | None = None, lookat: tuple[float, float, float] | None = None) → None

Deprecated. Call set_camera_view() directly instead.

Additional Public Classes

The following classes are part of the public isaaclab.envs.ui API.

EmptyWindow

Creates an empty UI window that can be docked in the Omniverse Kit environment.

class isaaclab.envs.ui.EmptyWindow

基类：object

Creates an empty UI window that can be docked in the Omniverse Kit environment.

The class initializes a dockable UI window and provides a main frame with a vertical stack. You can add custom UI elements to this vertical stack.

Example for adding a UI element from the standalone execution script:

>>> with env.window.ui_window_elements["main_vstack"]:
>>>     ui.Label("My UI element")

Methods:

__init__(env, window_name)	Initialize the window.
__new__(*args, **kwargs)

__init__(env: ManagerBasedEnv, window_name: str)

Initialize the window.

参数:

• env -- The environment object.

• window_name -- The name of the window.

classmethod __new__(*args, **kwargs)