Add keyborad control to adjust camera sensor pose in simulation #128
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yuecideng
added
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Pull request overview
Adds a simulation utility for interactively adjusting a camera sensor’s local pose via keyboard input (with a live OpenCV preview), and exposes it through the sim utility package.
Changes:
- Added
run_keyboard_control_for_camera()helper to visualize camera output and apply incremental pose adjustments from key presses. - Exported the new helper via
embodichain.lab.sim.utilitypackage__init__. - Tweaked
run_env.pypreview-mode logging to uselog_info(..., color="green").
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 8 comments.
| File | Description |
|---|---|
embodichain/lab/sim/utility/keyboard_utils.py |
New interactive keyboard-driven camera pose control loop with OpenCV display. |
embodichain/lab/sim/utility/__init__.py |
Re-exports the new keyboard utility. |
embodichain/lab/scripts/run_env.py |
Changes preview-mode message from warning to green info log. |
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| from .sim_utils import * | ||
| from .mesh_utils import * | ||
| from .gizmo_utils import * | ||
| from .keyboard_utils import * |
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Import pollutes the enclosing namespace, as the imported module embodichain.lab.sim.utility.keyboard_utils does not define 'all'.
Suggested change
| from .keyboard_utils import * | |
| from . import keyboard_utils |
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Description
This PR add helper function to control camera sensor pose in simulation. This feature would be useful for configuring the camera setup for simulation or for gym.
Type of change
Checklist
black .command to format the code base.