Add light keyboard control (#140)

Author: yuecideng

embodichain/lab/gym/envs/embodied_env.py

@@ -575,7 +575,7 @@ def preview_sensor_data(
                 cv2.imshow(window_name, cv2.cvtColor(view, cv2.COLOR_RGB2BGR))
                 cv2.waitKey(0)
                 cv2.destroyWindow(window_name)
-                
+
         elif method == "plt":
             from matplotlib import pyplot as plt
 

embodichain/lab/sim/sensors/camera.py

@@ -263,6 +263,15 @@ def group_id(self) -> int:
             )
             return -1
 
+    @property
+    def is_attached(self) -> bool:
+        """Check if the camera is attached to a parent entity.
+
+        Returns:
+            bool: True if the camera is attached to a parent entity, False otherwise.
+        """
+        return self.cfg.extrinsics.parent is not None
+
     def update(self, **kwargs) -> None:
         """Update the sensor data.
 

embodichain/lab/sim/sim_manager.py

@@ -803,6 +803,14 @@ def get_light(self, uid: str) -> Light | None:
             return None
         return self._lights[uid]
 
+    def get_light_uid_list(self) -> List[str]:
+        """Get current light uid list
+
+        Returns:
+            List[str]: list of light uid.
+        """
+        return list(self._lights.keys())
+
     def add_rigid_object(
         self,
         cfg: RigidObjectCfg,

embodichain/lab/sim/utility/gizmo_utils.py

@@ -51,15 +51,15 @@ def gizmo_transform_callback(node, translation, rotation, flag):
 
 
 def run_gizmo_robot_control_loop(
-    robot: "Robot", control_part: str = "arm", end_link_name: str | None = None
+    robot: object | str, control_part: str = "arm", end_link_name: str | None = None
 ):
     """Run a control loop for testing gizmo controls on a robot.
 
     This function implements a control loop that allows users to manipulate a robot
     using gizmo controls with keyboard input for additional commands.
 
     Args:
-        robot (Robot): The robot to control with the gizmo.
+        robot (Robot | str): The robot to control with the gizmo.
         control_part (str, optional): The part of the robot to control. Defaults to "arm".
         end_link_name (str | None, optional): The name of the end link for FK calculations. Defaults to None.
 
@@ -87,6 +87,9 @@ def run_gizmo_robot_control_loop(
 
     sim = SimulationManager.get_instance()
 
+    if isinstance(robot, str):
+        robot = sim.get_robot(uid=robot)
+
     # Enter auto-update mode.
     sim.set_manual_update(False)