isaaclab.ui.xr_widgets

Classes

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

DataCollector	Collects and manages data for visualization purposes.
TeleopVisualizationManager	Specialized visualization manager for teleoperation scenarios.
TriggerType	Enumeration of trigger types for visualization callbacks.
VisualizationManager	Base class for managing visualization rules and callbacks.
XRVisualization	Singleton class providing XR visualization functionality.

class isaaclab.ui.xr_widgets.DataCollector

基类：object

Collects and manages data for visualization purposes.

This class provides a centralized data store for visualization data, with change detection and callback mechanisms for real-time updates.

Methods:

__init__()	Initialize the data collector with empty data store and callback system.
__new__(*args, **kwargs)

__init__()

Initialize the data collector with empty data store and callback system.

classmethod __new__(*args, **kwargs)

class isaaclab.ui.xr_widgets.TeleopVisualizationManager

基类：VisualizationManager

Specialized visualization manager for teleoperation scenarios. For sample and debug use.

Provides teleoperation-specific visualization features including: - IK error handling and display

Methods:

__init__(data_collector)	Initialize the teleop visualization manager and register callbacks.
__new__(*args, **kwargs)

__init__(data_collector: DataCollector)

Initialize the teleop visualization manager and register callbacks.

参数:

data_collector -- DataCollector instance to read data for visualization use.

classmethod __new__(*args, **kwargs)

class isaaclab.ui.xr_widgets.TriggerType

Trigger types for visualization callbacks.

class isaaclab.ui.xr_widgets.VisualizationManager

基类：object

Base class for managing visualization rules and callbacks.

Provides a framework for registering and executing callbacks based on different trigger conditions (events, time periods, data changes).

Methods:

__init__(data_collector)	Initialize the visualization manager.
__new__(*args, **kwargs)

__init__(data_collector: DataCollector)

Initialize the visualization manager.

参数:

data_collector -- DataCollector instance to access the data for visualization use.

classmethod __new__(*args, **kwargs)

class isaaclab.ui.xr_widgets.XRVisualization

基类：object

Singleton class providing XR visualization functionality.

This class implements the singleton pattern to ensure only one instance of the visualization system exists across the application. It provides a centralized API for managing XR visualization features.

When manage a new event ordata field, please add a comment to the following list.

Event names:

"ik_solver_failed"

Data fields:

"manipulability_ellipsoid" : list[float] "device_raw_data" : dict "joints_distance_percentage_to_limit" : list[float] "joints_torque" : list[float] "joints_torque_limit" : list[float] "joints_name" : list[str] "wrist_pose" : list[float] "approximated_working_space" : list[float] "hand_torque_mapping" : list[str]

Methods:

__init__()	Prevent direct instantiation.
__new__(*args, **kwargs)

__init__()

Prevent direct instantiation.

classmethod __new__(*args, **kwargs)