UI Utilities [omni.isaac.ui]

The Isaac Sim UI Utilities extension provides a helper functions for creating robot-centric UI elements.

Shared UI Elements

ui_utils.setup_ui_headers(file_path, title='My Custom Extension', doc_link='https://docs.omniverse.nvidia.com/isaacsim/latest/index.html', overview='')

Creates the Standard UI Elements at the top of each Isaac Extension.

Parameters
  • ext_id (str) – Extension ID.

  • file_path (str) – File path to source code.

  • title (str, optional) – Name of Extension. Defaults to “My Custom Extension”.

  • doc_link (str, optional) – Hyperlink to Documentation. Defaults to “https://docs.omniverse.nvidia.com/isaacsim/latest/index.html”.

  • overview (str, optional) – Overview Text explaining the Extension. Defaults to “”.

Builder Functions

ui_utils.btn_builder(type='button', text='button', tooltip='', on_clicked_fn=None)

Creates a stylized button.

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “button”.

  • text (str, optional) – Text rendered on the button. Defaults to “button”.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

  • on_clicked_fn (Callable, optional) – Call-back function when clicked. Defaults to None.

Returns

Button

Return type

ui.Button

ui_utils.state_btn_builder(type='state_button', a_text='STATE A', b_text='STATE B', tooltip='', on_clicked_fn=None)

Creates a State Change Button that changes text when pressed.

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “button”.

  • a_text (str, optional) – Text rendered on the button for State A. Defaults to “STATE A”.

  • b_text (str, optional) – Text rendered on the button for State B. Defaults to “STATE B”.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

  • on_clicked_fn (Callable, optional) – Call-back function when clicked. Defaults to None.

ui_utils.multi_btn_builder(type='multi_button', count=2, text=['button', 'button'], tooltip=['', '', ''], on_clicked_fn=[None, None])

Creates a Row of Stylized Buttons

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “multi_button”.

  • count (int, optional) – Number of UI elements to create. Defaults to 2.

  • text (list, optional) – List of text rendered on the UI elements. Defaults to [“button”, “button”].

  • tooltip (list, optional) – List of tooltips to display over the UI elements. Defaults to [“”, “”, “”].

  • on_clicked_fn (list, optional) – List of call-backs function when clicked. Defaults to [None, None].

Returns

List of Buttons

Return type

list(ui.Button)

ui_utils.cb_builder(type='checkbox', default_val=False, tooltip='', on_clicked_fn=None)

Creates a Stylized Checkbox

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “checkbox”.

  • default_val (bool, optional) – Checked is True, Unchecked is False. Defaults to False.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

  • on_clicked_fn (Callable, optional) – Call-back function when clicked. Defaults to None.

Returns

model

Return type

ui.SimpleBoolModel

ui_utils.multi_cb_builder(type='multi_checkbox', count=2, text=[' ', ' '], default_val=[False, False], tooltip=['', '', ''], on_clicked_fn=[None, None])

Creates a Row of Stylized Checkboxes.

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “multi_checkbox”.

  • count (int, optional) – Number of UI elements to create. Defaults to 2.

  • text (list, optional) – List of text rendered on the UI elements. Defaults to [” “, ” “].

  • default_val (list, optional) – List of default values. Checked is True, Unchecked is False. Defaults to [False, False].

  • tooltip (list, optional) – List of tooltips to display over the UI elements. Defaults to [“”, “”, “”].

  • on_clicked_fn (list, optional) – List of call-backs function when clicked. Defaults to [None, None].

Returns

List of models

Return type

list(ui.SimpleBoolModel)

ui_utils.str_builder(type='stringfield', default_val=' ', tooltip='', on_clicked_fn=None, use_folder_picker=False, read_only=False, item_filter_fn=None, bookmark_label=None, bookmark_path=None, folder_dialog_title='Select Output Folder', folder_button_title='Select Folder')

Creates a Stylized Stringfield Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “stringfield”.

  • default_val (str, optional) – Text to initialize in Stringfield. Defaults to ” “.

  • tooltip (str, optional) – Tooltip to display over the UI elements. Defaults to “”.

  • use_folder_picker (bool, optional) – Add a folder picker button to the right. Defaults to False.

  • read_only (bool, optional) – Prevents editing. Defaults to False.

  • item_filter_fn (Callable, optional) – filter function to pass to the FilePicker

  • bookmark_label (str, optional) – bookmark label to pass to the FilePicker

  • bookmark_path (str, optional) – bookmark path to pass to the FilePicker

Returns

model of Stringfield

Return type

AbstractValueModel

ui_utils.int_builder(type='intfield', default_val=0, tooltip='', min=- 9223372036854775807, max=9223372036854775807)

Creates a Stylized Intfield Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “intfield”.

  • default_val (int, optional) – Default Value of UI element. Defaults to 0.

  • tooltip (str, optional) – Tooltip to display over the UI elements. Defaults to “”.

  • min (int, optional) – Minimum limit for int field. Defaults to sys.maxsize * -1

  • max (int, optional) – Maximum limit for int field. Defaults to sys.maxsize * 1

Returns

model

Return type

AbstractValueModel

ui_utils.float_builder(type='floatfield', default_val=0, tooltip='', min=- inf, max=inf, step=0.1, format='%.2f')

Creates a Stylized Floatfield Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “floatfield”.

  • default_val (int, optional) – Default Value of UI element. Defaults to 0.

  • tooltip (str, optional) – Tooltip to display over the UI elements. Defaults to “”.

Returns

model

Return type

AbstractValueModel

ui_utils.combo_cb_str_builder(type='checkbox_stringfield', default_val=[False, ' '], tooltip='', on_clicked_fn=<function <lambda>>, use_folder_picker=False, read_only=False, folder_dialog_title='Select Output Folder', folder_button_title='Select Folder')

Creates a Stylized Checkbox + Stringfield Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “checkbox_stringfield”.

  • default_val (str, optional) – Text to initialize in Stringfield. Defaults to [False, ” “].

  • tooltip (str, optional) – Tooltip to display over the UI elements. Defaults to “”.

  • use_folder_picker (bool, optional) – Add a folder picker button to the right. Defaults to False.

  • read_only (bool, optional) – Prevents editing. Defaults to False.

Returns

(cb_model, str_field_model)

Return type

Tuple(ui.SimpleBoolModel, AbstractValueModel)

ui_utils.dropdown_builder(type='dropdown', default_val=0, items=['Option 1', 'Option 2', 'Option 3'], tooltip='', on_clicked_fn=None)

Creates a Stylized Dropdown Combobox

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “dropdown”.

  • default_val (int, optional) – Default index of dropdown items. Defaults to 0.

  • items (list, optional) – List of items for dropdown box. Defaults to [“Option 1”, “Option 2”, “Option 3”].

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

  • on_clicked_fn (Callable, optional) – Call-back function when clicked. Defaults to None.

Returns

model

Return type

AbstractItemModel

ui_utils.multi_dropdown_builder(type='multi_dropdown', count=2, default_val=[0, 0], items=[['Option 1', 'Option 2', 'Option 3'], ['Option A', 'Option B', 'Option C']], tooltip='', on_clicked_fn=[None, None])

Creates a Stylized Multi-Dropdown Combobox

Returns

model

Return type

AbstractItemModel

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “multi_dropdown”.

  • count (int, optional) – Number of UI elements. Defaults to 2.

  • default_val (list(int), optional) – List of default indices of dropdown items. Defaults to 0.. Defaults to [0, 0].

  • items (list(list), optional) – List of list of items for dropdown boxes. Defaults to [[“Option 1”, “Option 2”, “Option 3”], [“Option A”, “Option B”, “Option C”]].

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

  • on_clicked_fn (list(Callable), optional) – List of call-back function when clicked. Defaults to [None, None].

Returns

list(models)

Return type

list(AbstractItemModel)

ui_utils.combo_cb_dropdown_builder(type='checkbox_dropdown', default_val=[False, 0], items=['Option 1', 'Option 2', 'Option 3'], tooltip='', on_clicked_fn=[<function <lambda>>, None])

Creates a Stylized Dropdown Combobox with an Enable Checkbox

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “checkbox_dropdown”.

  • default_val (list, optional) – list(cb_default, dropdown_default). Defaults to [False, 0].

  • items (list, optional) – List of items for dropdown box. Defaults to [“Option 1”, “Option 2”, “Option 3”].

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

  • on_clicked_fn (list, optional) – List of callback functions. Defaults to [lambda x: None, None].

Returns

(cb_model, combobox)

Return type

Tuple(ui.SimpleBoolModel, ui.ComboBox)

ui_utils.combo_intfield_slider_builder(type='intfield_stringfield', default_val=0.5, min=0, max=1, step=0.01, tooltip=['', ''])

Creates a Stylized IntField + Stringfield Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “intfield_stringfield”.

  • default_val (float, optional) – Default Value. Defaults to 0.5.

  • min (int, optional) – Minimum Value. Defaults to 0.

  • max (int, optional) – Maximum Value. Defaults to 1.

  • step (float, optional) – Step. Defaults to 0.01.

  • tooltip (list, optional) – List of tooltips. Defaults to [“”, “”].

Returns

(flt_field_model, flt_slider_model)

Return type

Tuple(AbstractValueModel, IntSlider)

ui_utils.combo_floatfield_slider_builder(type='floatfield_stringfield', default_val=0.5, min=0, max=1, step=0.01, tooltip=['', ''])

Creates a Stylized FloatField + FloatSlider Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “floatfield_stringfield”.

  • default_val (float, optional) – Default Value. Defaults to 0.5.

  • min (int, optional) – Minimum Value. Defaults to 0.

  • max (int, optional) – Maximum Value. Defaults to 1.

  • step (float, optional) – Step. Defaults to 0.01.

  • tooltip (list, optional) – List of tooltips. Defaults to [“”, “”].

Returns

(flt_field_model, flt_slider_model)

Return type

Tuple(AbstractValueModel, IntSlider)

ui_utils.scrolling_frame_builder(type='scrolling_frame', default_val='No Data', tooltip='')

Creates a Labeled Scrolling Frame with CopyToClipboard button

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “scrolling_frame”.

  • default_val (str, optional) – Default Text. Defaults to “No Data”.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

Returns

label

Return type

ui.Label

ui_utils.combo_cb_scrolling_frame_builder(type='cb_scrolling_frame', default_val=[False, 'No Data'], tooltip='', on_clicked_fn=<function <lambda>>)

Creates a Labeled, Checkbox-enabled Scrolling Frame with CopyToClipboard button

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “cb_scrolling_frame”.

  • default_val (list, optional) – List of Checkbox and Frame Defaults. Defaults to [False, “No Data”].

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

  • on_clicked_fn (Callable, optional) – Callback function when clicked. Defaults to lambda x : None.

Returns

(model, label)

Return type

list(SimpleBoolModel, ui.Label)

ui_utils.xyz_builder(tooltip='', axis_count=3, default_val=[0.0, 0.0, 0.0, 0.0], min=- inf, max=inf, step=0.001, on_value_changed_fn=[None, None, None, None])

[summary]

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “”.

  • axis_count (int, optional) – Number of Axes to Display. Max 4. Defaults to 3.

  • default_val (list, optional) – List of default values. Defaults to [0.0, 0.0, 0.0, 0.0].

  • min (float, optional) – Minimum Float Value. Defaults to float(“-inf”).

  • max (float, optional) – Maximum Float Value. Defaults to float(“inf”).

  • step (float, optional) – Step. Defaults to 0.001.

  • on_value_changed_fn (list, optional) – List of callback functions for each axes. Defaults to [None, None, None, None].

Returns

list(model)

Return type

list(AbstractValueModel)

ui_utils.color_picker_builder(type='color_picker', default_val=[1.0, 1.0, 1.0, 1.0], tooltip='Color Picker')

Creates a Color Picker Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “color_picker”.

  • default_val (list, optional) – List of (R,G,B,A) default values. Defaults to [1.0, 1.0, 1.0, 1.0].

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “Color Picker”.

Returns

ui.ColorWidget.model

Return type

AbstractItemModel

ui_utils.progress_bar_builder(type='progress_bar', default_val=0, tooltip='Progress')

Creates a Progress Bar Widget

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • type (str, optional) – Type of UI element. Defaults to “progress_bar”.

  • default_val (int, optional) – Starting Value. Defaults to 0.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “Progress”.

Returns

ui.ProgressBar().model

Return type

AbstractValueModel

Plotting Functions

ui_utils.plot_builder(data=None, min=- 1, max=1, type=omni.ui.Type.LINE, value_stride=1, color=None, tooltip='')

Creates a stylized static plot

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • data (list(float), optional) – Data to plot. Defaults to None.

  • min (int, optional) – Minimum Y Value. Defaults to -1.

  • max (int, optional) – Maximum Y Value. Defaults to 1.

  • type (ui.Type, optional) – Plot Type. Defaults to ui.Type.LINE.

  • value_stride (int, optional) – Width of plot stride. Defaults to 1.

  • color (int, optional) – Plot color. Defaults to None.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

Returns

plot

Return type

ui.Plot

ui_utils.combo_cb_plot_builder(default_val=False, on_clicked_fn=<function <lambda>>, data=None, min=-1, max=1, type=omni.ui.Type.LINE, value_stride=1, color=None, tooltip='')

Creates a Checkbox-Enabled dyanamic plot

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • default_val (bool, optional) – Checkbox default. Defaults to False.

  • on_clicked_fn (Callable, optional) – Checkbox Callback function. Defaults to lambda x: None.

  • data (list(), optional) – Data to plat. Defaults to None.

  • min (int, optional) – Min Y Value. Defaults to -1.

  • max (int, optional) – Max Y Value. Defaults to 1.

  • type (ui.Type, optional) – Plot Type. Defaults to ui.Type.LINE.

  • value_stride (int, optional) – Width of plot stride. Defaults to 1.

  • color (int, optional) – Plot color. Defaults to None.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

Returns

(cb_model, plot)

Return type

list(SimpleBoolModel, ui.Plot)

ui_utils.xyz_plot_builder(data=[], min=- 1, max=1, tooltip='')

Creates a stylized static XYZ plot

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • data (list(float), optional) – Data to plot. Defaults to [].

  • min (int, optional) – Minimum Y Value. Defaults to -1.

  • max (int, optional) – Maximum Y Value. Defaults to “”.

  • tooltip (str, optional) – Tooltip to display over the Label.. Defaults to “”.

Returns

list(x_plot, y_plot, z_plot)

Return type

list(ui.Plot)

ui_utils.combo_cb_xyz_plot_builder(default_val=False, on_clicked_fn=<function <lambda>>, data=[], min=-1, max=1, type=omni.ui.Type.LINE, value_stride=1, tooltip='')

[summary]

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • default_val (bool, optional) – Checkbox default. Defaults to False.

  • on_clicked_fn (Callable, optional) – Checkbox Callback function. Defaults to lambda x: None.

  • list (data) – Data to plat. Defaults to None.

  • min (int, optional) – Min Y Value. Defaults to -1.

  • max (int, optional) – Max Y Value. Defaults to 1.

  • type (ui.Type, optional) – Plot Type. Defaults to ui.Type.LINE.

  • value_stride (int, optional) – Width of plot stride. Defaults to 1.

  • tooltip (str, optional) – Tooltip to display over the Label. Defaults to “”.

Returns

([plot_0, plot_1, plot_2], [val_model_x, val_model_y, val_model_z])

Return type

Tuple(list(ui.Plot), list(AbstractValueModel))

Aesthetic Functions

ui_utils.add_separator()

Aesthetic element to adds a Line Separator.

UI Element Wrappers

class Frame(enabled: bool = True, visible: bool = True, build_fn: Optional[Callable] = None)

Create a Frame UI element

Parameters
  • enabled (bool, optional) – Frame is enabled. Defaults to True.

  • visible (bool, optional) – Frame is visible. Defaults to True.

  • build_fn (Callable, optional) – A function that can be called to specify what should fill the Frame. Function should take no arguments. Return values will not be used. Defaults to None.

property frame: omni.ui.Frame

Returns: omni.ui.Frame: A UI Frame

rebuild()

Rebuild the Frame using the specified build_fn

set_build_fn(build_fn: Callable)

Set the build_fn to use when rebuilding the frame.

Parameters

build_fn (Callable) – Build function to use when rebuilding the frame. Function should take no arguments. Return values will not be used.

class CollapsableFrame(title: str, collapsed: bool = True, enabled: bool = True, visible: bool = True, build_fn: Optional[Callable] = None)

Create a CollapsableFrame UI element

Parameters
  • title (str) – Title of Collapsable Frame

  • collapsed (bool, optional) – Frame is collapsed. Defaults to True.

  • enabled (bool, optional) – Frame is enabled. Defaults to True.

  • visible (bool, optional) – Frame is visible. Defaults to True.

  • build_fn (Callable, optional) – A function that can be called to specify what should fill the Frame. Function should take no arguments. Return values will not be used. Defaults to None.

property collapsed: bool

Returns: bool: CollapsableFrame is collapsed

property title: str

Returns: str: Title text of CollapsableFrame

class ScrollingFrame(num_lines=None, enabled: bool = True, visible: bool = True, build_fn: Optional[Callable] = None)

Create a ScrollingFrame UI element with a specified size.

Parameters
  • num_lines (int, optional) – Determines height of ScrollingFrame element in terms of the typical line height of UI elements. If not specified, the ScrollingFrame will fill the space it can in the UI Window.

  • enabled (bool, optional) – Frame is enabled. Defaults to True.

  • visible (bool, optional) – Frame is visible. Defaults to True.

  • build_fn (Callable, optional) – A function that can be called to specify what should fill the Frame. Function should take no arguments. Return values will not be used. Defaults to None.

set_num_lines(num_lines: int)

Set the height of the ScrollingFrame element in terms of the typical line height of other UI elements.

Parameters

num_lines (int) – Number of lines that should be shown in a ScrollingFrame.

class IntField(label: str, tooltip: str = '', default_value: int = 0, lower_limit: Optional[int] = None, upper_limit: Optional[int] = None, on_value_changed_fn: Optional[Callable] = None)

Creates a IntField UI element.

Parameters
  • label (str) – Short descriptive text to the left of the IntField.

  • tooltip (str, optional) – Text to appear when the mouse hovers over the IntField. Defaults to “”.

  • default_value (int, optional) – Default value of the IntField. Defaults to 0.

  • lower_limit (int, optional) – Lower limit of float. Defaults to None.

  • upper_limit (int, optional) – Upper limit of float. Defaults to None.

  • on_value_changed_fn (Callable, optional) – Function to be called when the value of the int is changed. The function should take an int as an argument. The return value will not be used. Defaults to None.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property int_field: omni.ui.IntField

Returns: omni.ui.IntField: UI IntField elements

get_value() int

Get the current value of the int field

Returns

Current value of the int field

Return type

int

get_upper_limit() int

Get the upper limit on the IntField.

Returns

Upper Limit on IntField

Return type

int

get_lower_limit() int

Get the lower limit on the IntField.

Returns

Lower Limit on IntField

Return type

int

set_value(val: int)

Set the value in the IntField

Parameters

val (int) – Value to fill IntField

set_upper_limit(upper_limit: int)

Set upper limit of IntField. If current value is higher than upper_limit, the current value will be clipped to upper_limit

Parameters

upper_limit (int) – Upper limit of IntField

set_lower_limit(lower_limit: int)

Set lower limit of IntField. If current value is lower than lower_limit, the current value will be clipped to lower_limit

Parameters

lower_limit (int) – lower limit of IntField

set_on_value_changed_fn(on_value_changed_fn: Callable)

Set function that is called when the value of the IntField is modified

Parameters

on_value_changed_fn (Callable) – Function that is called when the value of the IntField is modified. Function should take a int as the argument. The return value will not be used.

class FloatField(label: str, tooltip: str = '', default_value: float = 0.0, step: float = 0.01, format: str = '%.2f', lower_limit: Optional[float] = None, upper_limit: Optional[float] = None, on_value_changed_fn: Optional[Callable] = None)

Creates a FloatField UI element.

Parameters
  • label (str) – Short descriptive text to the left of the FloatField.

  • tooltip (str, optional) – Text to appear when the mouse hovers over the FloatField. Defaults to “”.

  • default_value (float, optional) – Default value of the Float Field. Defaults to 0.0.

  • step (float, optional) – Smallest increment that the user can change the float by when dragging mouse. Defaults to 0.01.

  • format (str, optional) – Formatting string for float. Defaults to “%.2f”.

  • lower_limit (float, optional) – Lower limit of float. Defaults to None.

  • upper_limit (float, optional) – Upper limit of float. Defaults to None.

  • on_value_changed_fn (Callable, optional) – Function to be called when the value of the float is changed. The function should take a float as an argument. The return value will not be used. Defaults to None.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property float_field: omni.ui.FloatField

Returns: omni.ui.FloatField: UI FloatField element

get_value() float

Return the current value of the FloatField

Returns

Current value of the FloatField

Return type

float

get_upper_limit() float

Get the upper limit on the FloatField

Returns

Upper limit on FloatField

Return type

float

get_lower_limit() float

Get the lower limit on the FloatField

Returns

Lower limit on FloatField

Return type

float

set_value(val: float)

Set the value in the FloatField

Parameters

val (float) – Value to fill FloatField

set_upper_limit(upper_limit: float)

Set upper limit of FloatField. If current value is higher than upper_limit, the current value will be clipped to upper_limit

Parameters

upper_limit (float) – Upper limit of FloatField

set_lower_limit(lower_limit: float)

Set lower limit of FloatField. If current value is lower than lower_limit, the current value will be clipped to lower_limit

Parameters

lower_limit (float) – lower limit of FloatField

set_on_value_changed_fn(on_value_changed_fn: Callable)

Set function that is called when the value of the FloatField is modified

Parameters

on_value_changed_fn (Callable) – Function that is called when the value of the FloatField is modified. Function should take a float as the argument. The return value will not be used.

class StringField(label: str, tooltip: str = '', default_value: str = '', read_only=False, multiline_okay=False, on_value_changed_fn: Optional[Callable] = None, use_folder_picker=False, item_filter_fn=None, bookmark_label=None, bookmark_path=None, folder_dialog_title='Select Output Folder', folder_button_title='Select Folder')

Create StringField UI Element.

Starting at use_folder_picker, the arguments to the StringField all pertain to the folder_picker. If the folder_picker is not used, these arguments may all be ignored.

Parameters
  • label (str, optional) – Label to the left of the UI element. Defaults to “”.

  • tooltip (str, optional) – Tooltip to display over the UI elements. Defaults to “”.

  • default_val (str, optional) – Text to initialize in Stringfield. Defaults to ” “.

  • read_only (bool, optional) – Prevents editing. Defaults to False.

  • multiline_okay (bool, optional) – If True, allow newline character in input strings. Defaults to False.

  • on_value_changed_fn (Callable, optional) – The function should take a string as an argument. The return value will not be used. Defaults to None.

  • use_folder_picker (bool, optional) – Add a folder picker button to the right. Defaults to False.

  • item_filter_fn (Callable, optional) – Filter function to pass to the FilePicker. This function should take a string as an argument and return a boolean. When the user opens the file picker, every file in the directory they are viewing will be passed to item_filter_fn, and when True is returned, the file will be shown. When False is returned, the file will not be shown. This can be used to ensure that the user may only select valid file types.

  • bookmark_label (str, optional) – Bookmark label to pass to the FilePicker. This will create a bookmark when the file picker is used with the label specified here.

  • bookmark_path (str, optional) – Bookmark path to pass to the FilePicker. This will create a bookmark when the file picker is used with the path specified here.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property string_field: omni.ui.StringField

Returns: omni.ui.StringField: UI StringField element

property file_picker_frame: omni.ui.Frame

Returns: omni.ui.Frame: UI Frame containing FilePicker

property file_picker_btn: omni.ui.Button

Returns: omni.ui.Button: Button to activate file picker

get_value() str

Return the current value of the StringField

Returns

Current value of the StringField

Return type

str

set_value(val: str)

Set the value of the StringField

Parameters

val (str) – Value to fill StringField

set_on_value_changed_fn(on_value_changed_fn: Callable)

Set function that is called when the value of the StringField is modified

Parameters

on_value_changed_fn (Callable) – Function that is called when the value of the StringField is modified. Function should take a string as the argument. The return value will not be used.

set_item_filter_fn(item_filter_fn: Callable)

Set the filter function that will be used with the file picker

Parameters

item_filter_fn (Callable) – Filter function that will be called to filter the files shown in the picker. This function should take a string file_path as the argument. The return value should be a bool, with True indicating the the file should be shown to the user in the file picker.

set_read_only(read_only: bool)

Set this StringField to be read only

Parameters

read_only (bool) – If True, StringField cannot be modified through the UI; it can still be modified programmatically with set_value()

set_multiline_okay(multiline_okay: bool)

Set the StringFiled to allow the newline character

Parameters

multiline_okay (bool) – If True, allow newline character in strings.

add_folder_picker_icon(on_click_fn, item_filter_fn=None, bookmark_label=None, bookmark_path=None, dialog_title='Select Output Folder', button_title='Select Folder')
class Button(label: str, text: str, tooltip='', on_click_fn=None)

Create a Button UI Element

Parameters
  • label (str) – Short descriptive text to the left of the Button

  • text (str) – Text on the Button

  • tooltip (str, optional) – Text to appear when the mouse hovers over the Button. Defaults to “”.

  • on_click_fn (Callable, optional) – Callback function that will be called when the button is pressed. Function should take no arguments. The return value will not be used. Defaults to None.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property button: omni.ui.Button

Returns: omni.ui.Button: UI Button element

set_on_click_fn(on_click_fn: Callable)

Set the callback function for when the Button is clicked.

Parameters

on_click_fn (Callable) – Callback function for when Button is clicked. The function should take a single bool argument. The return value will not be used.

trigger_click()

Trigger identical behavior as if the user pressed the Button through the UI.

class CheckBox(label: str, default_value: bool = False, tooltip='', on_click_fn=None)

Create a CheckBox UI Element

Parameters
  • label (str) – Short descriptive text to the left of the CheckBox

  • default_value (bool, optional) – If True, CheckBox will be checked. Defaults to False.

  • tooltip (str, optional) – Text to appear when the mouse hovers over the CheckBox. Defaults to “”.

  • on_click_fn (_type_, optional) – Callback function that will be called when the CheckBox is pressed. Function should take a single bool argument. The return value will not be used. Defaults to None.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property checkbox: omni.ui.CheckBox

Returns: omni.ui.CheckBox: UI CheckBox element

get_value() bool
Returns

Check box is checked

Return type

bool

set_value(val: bool)
Parameters

val (bool) – If True, set CheckBox to checked state

set_on_click_fn(on_click_fn: Callable)

Set the function that will be called when the CheckBox is clicked.

Parameters

on_click_fn (Callable) – Callback function for when CheckBox is clicked. The function should take a single bool argument. The return value will not be used.

class StateButton(label: str, a_text: str, b_text: str, tooltip='', on_a_click_fn: Optional[Callable] = None, on_b_click_fn: Optional[Callable] = None, physics_callback_fn: Optional[Callable] = None)

Creates a State Button UI element. A StateButton is a button that changes between two states A and B when clicked. In state A, the StateButton has a_text written on it, and in state B, the StateButton has b_text written on it.

Parameters
  • label (str) – Short descriptive text to the left of the StateButton

  • a_text (str) – Text on the StateButton in one of its two states

  • b_text (str) – Text on the StateButton in the other of its two states

  • tooltip (str, optional) – Text that appears when the mouse hovers over the button. Defaults to “”.

  • on_a_click_fn (Callable, optional) – A function that should be called when the button is clicked while in state A. Function should have 0 arguments. The return value will not be used. Defaults to None.

  • on_b_click_fn (Callable, optional) – A function that should be called when the button is clicked while in state B. Function should have 0 arguments. The return value will not be used. Defaults to None.

  • physics_callback_fn (Callable, optional) – A function that will be called on every physics step while the button is in state B (a_text was pressed). The function should have one argument for physics step size (float). The return value will not be used. Defaults to None.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property state_button: omni.ui.Button

Returns: omni.ui.Button: UI Button element

set_physics_callback_fn(physics_callback_fn: Callable)

Set a physics callback function that will be called on every physics step while the StateButton is in state B.

Parameters

physics_callback_fn (Callable) – A function that will be called on every physics step while the button is in state B (a_text was pressed). The function should have one argument for physics step size (float). The return value will not be used.

set_on_a_click_fn(on_a_click_fn: Callable)

Set a function that is called when the button is clicked in state A.

Parameters

on_a_click_fn (Callable) – A function that is called when the button is clicked in state A. Function should take no arguments. The return value will not be used.

set_on_b_click_fn(on_b_click_fn: Callable)

Set a function that is called when the button is clicked in state B.

Parameters

on_b_click_fn (Callable) – A function that is called when the button is clicked in state B. Function should take no arguments. The return value will not be used.

is_in_a_state() bool

Return True if the StateButton is in the a state. False implies that it is in the b state.

Returns

True when the StateButton is in the b state.

Return type

bool

trigger_click_if_a_state()

If in the A state, trigger button to execute the same behavior as if it were clicked by the user. If the button is in the B state, nothing will happen.

trigger_click_if_b_state()

If in the B state, trigger button to execute the same behavior as if it were clicked by the user. If the button is in the A state, nothing will happen. This is distinct from calling reset() because the user on_b_click_fn() will be triggered.

get_current_text() str

Get the current text on the button.

reset()

Reset StateButton to state A.

cleanup()

Remove physics callback created by the StateButton if exists.

class DropDown(label: str, tooltip: str = '', populate_fn: Optional[Callable] = None, on_selection_fn: Optional[Callable] = None, keep_old_selections: bool = False)

Create a DropDown UI element. A DropDown menu can be populated by the user, with a callback function specified for when an item is selected.

Parameters
  • label (str) – Short descriptive text to the left of the DropDown

  • tooltip (str, optional) – Text to appear when the mouse hovers over the DropDown. Defaults to “”.

  • populate_fn (Callable, optional) – A user-defined function that returns a list[str] of items that should populate the drop-down menu. This Function should have 0 arguments. Defaults to None.

  • on_selection_fn (Callable, optional) – A user-defined callback function for when an element is selected from the DropDown. The function should take in a string argument of the selection. The return value will not be used. Defaults to None.

  • keep_old_selections (bool, optional) – When the DropDown is repopulated with the user-defined populate_fn, the default behavior is to reset the selection in the DropDown to be at index 0. If the user sets keep_old_selections=True, when the DropDown is repopulated and the old selection is still one of the options, the new selection will match the old selection. Defaults to False.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property combobox: omni.ui.ComboBox

Returns: omni.ui.ComboBox: UI ComboBox element.

repopulate()

A function that the user can call to make the DropDown menu repopulate. This will call the populate_fn set by the user.

set_populate_fn(populate_fn: Callable, repopulate: bool = True)

Set the populate_fn for this DropDown

Parameters
  • populate_fn (Callable) – Function used to specify the options that fill the DropDown. Function should take no arguments and return a list[str].

  • repopulate (bool, optional) – If true, repopulate the DropDown using the new populate_fn. Defaults to True.

get_items() List[str]

Get the items in the DropDown

Returns

A list of the options in the DropDown

Return type

List[str]

get_selection_index() int

Get index of selection in DropDown menu

Returns

Index of selection in DropDown menu

Return type

int

get_selection() str

Get current selection in DropDown

Returns

Current selection in DropDown

Return type

str

set_items(items: List[str], select_index: Optional[int] = None)

Set the items in the DropDown explicitly.

Parameters
  • items (List[str]) – New set of items in the DropDown

  • select_index (int, optional) – Index of item to select. If left as None, behavior is determined by the keep_old_selections flag. Defaults to None.

set_selection(selection: str)

Set the selected item in the DropDown. If the specifified selection is not in the DropDown, nothing will happen.

Parameters

selection (str) – Item to select in the DropDown

set_selection_by_index(select_index: int)

Set the selected item in the DropDown by index. If the provided index is out of bounds, nothing will happen.

Parameters

select_index (int) – Index of item to select from DropDown

set_on_selection_fn(on_selection_fn: Callable)

Set the function that gets called when a new item is selected from the DropDown

Parameters

on_selection_fn (Callable) – A function that is called when a new item is selected from the DropDown. he function should take in a string argument of the selection. Its return value is not used.

set_keep_old_selection(val: bool)

Set keep_old_selection flag to determine behavior when repopulating the DropDown

Parameters

val (bool) – When the DropDown is repopulated with the user-defined populate_fn, the default behavior is to reset the selection in the DropDown to be at index 0. If the user sets keep_old_selections=True, when the DropDown is repopulated and the old selection is still one of the options, the new selection will match the old selection, and the on_selection_fn() will not be called.

set_populate_fn_to_find_all_usd_objects_of_type(object_type: str, repopulate=True)

Set the populate_fn to find all objects of a specified type on the USD stage. This is included as a convenience function to fulfill one common use-case for a DropDown menu. This overrides the populate_fn set by the user.

Parameters
  • object_type (str) – A string name of the type of USD object matching the output of omni.isaac.core.utils.prims.get_prim_object_type(prim_path)

  • repopulate (bool, optional) – Repopulate the DropDown immediately. Defaults to True.

trigger_on_selection_fn_with_current_selection()

Call the user on_selection_fn() with whatever item is currently selected in the DropDown.

class ColorPicker(label: str, default_value: List[float] = [1.0, 1.0, 1.0, 1.0], tooltip: str = '', on_color_picked_fn: Optional[Callable] = None)

Create a ColorPicker UI element to allow user-selection of an RGBA color

Parameters
  • label (str) – Short descriptive text to the left of the ColorPicker

  • default_value (List[float], optional) – RGBA color values between 0 and 1. Defaults to [1.0, 1.0, 1.0, 1.0].

  • tooltip (str, optional) – Text to appear when the mouse hovers over the ColorPicker. Defaults to “”.

  • on_color_picked_fn (Callable, optional) – Function that will be called if the user picks a new color. Function should expect a List[float] as an argument with four RGBA color values between 0 and 1. The return value will not be used.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property color_picker: omni.ui.ColorWidget

Returns: omni.ui.ColorWidget: UI ColorWidget element

get_color() List[float]

Get the RGBA value of the selected color

Returns

RGBA color value with four values between 0 and 1

Return type

List[float]

set_color(color: List[float])

Set the RGBA color value of the selected color

Parameters

color (List[float]) – RGBA color value with four values between 0 and 1

set_on_color_picked_fn(on_color_picked_fn: Callable)

Set the function that should be called if the user picks a new color

Parameters

on_color_picked_fn (Callable) – Function that will be called if the user picks a new color. Function should expect a List[float] as an argument with four RGBA color values between 0 and 1. The return value will not be used.

class TextBlock(label: str, text: str = '', tooltip: str = '', num_lines=5, include_copy_button: bool = True)

Create a text block that is only modifiable through code. The user may not set the value of the text in the UI.

Parameters
  • label (str) – Short description of the contents of the TextBlock

  • text (str, optional) – Text to put in the TextBlock. Defaults to “”.

  • tooltip (str, optional) – Text to appear when the mouse hovers over the TextBlock. Defaults to “”.

  • num_lines (int, optional) – Number of lines that should be visible in the TextBlock at one time. Defaults to 5.

  • include_copy_button (bool, optional) – Include a copy_to_clipboard button. Defaults to True.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property scrolling_frame: omni.ui.ScrollingFrame

Returns: omni.ui.ScrollingFrame: Scrolling Frame that contains the TextBlock text

property copy_btn: omni.ui.Button

Returns: omni.ui.Button: Copy Button. If the TextBlock was built without a copy button, this will return None.

property text_block: omni.ui.Label

Returns: omni.ui.Label: UI element that contains the text in the text block

get_text() str
Returns

Text in the text block

Return type

str

set_text(text: str)
Parameters

text (str) – Set the text in the text block.

set_num_lines(num_lines: int)

Set the number of lines that should be visible in the TextBlock at one time.

Parameters

num_lines (int) – Number of lines that should be visible in the TextBlock at one time.

class XYPlot(label: str, tooltip: str = '', x_data: Union[List[List], List] = [], y_data: Union[List[List], List] = [], x_min: Optional[float] = None, x_max: Optional[float] = None, y_min: Optional[float] = None, y_max: Optional[float] = None, x_label: str = 'X', y_label: str = 'Y', plot_height: int = 10, show_legend: bool = False, legends: Optional[List[str]] = None, plot_colors: Optional[List[List[int]]] = None)
get_x_data() List[List[float]]

x_data in the plot

Returns

A possibly ragged list of lists where each ith inner list is the x coordinates for plot i.

Return type

List[List[float]]

get_y_data() List[List[float]]

y_data in the plot

Returns

A possibly ragged list of lists where each ith inner list is the y coordinates for plot i.

Return type

List[List[float]]

get_x_min() float

Get the minimum value of x shown in the plot.

Returns

Minimum value of x shown in the plot.

Return type

float

get_y_min() float

Get the minimum value of y shown in the plot.

Returns

Minimum value of y shown in the plot.

Return type

float

get_x_max() float

Get the maximum value of x shown in the plot.

Returns

Maximum value of x shown in the plot.

Return type

float

get_y_max() float

Get the maximum value of y shown in the plot.

Returns

Maximum value of y shown in the plot.

Return type

float

get_legends() List[str]

Get the legends for the plotted data.

Returns

Legends for the plotted data

Return type

List[str]

get_plot_height() int

Get the height of the plot, proportional to the height of a line of text

Returns

Height of the plot

Return type

int

get_plot_colors() List[List[int]]

Get the colors of the data in the plot

Returns

List of lists where each inner list has length 3 corresponding to r,g,b values.

Return type

List[List[int]]

set_plot_color_by_index(index: int, r: int, g: int, b: int)

Set the color of a specific plot.

Parameters
  • index (int) – Index of the plot corresponding to the rows of x_data and y_data.

  • r (int) – Value for red in [0,255]

  • g (int) – Value for green in [0,255]

  • b (int) – Value for blue in [0,255]

set_plot_colors(plot_colors: List[List[int]])

Set the colors for every plot

Parameters

plot_colors (List[List[int]]) – A list of lists where each index corresponds to the rows of x_data and y_data. Each inner list must contain [r,g,b] color values in [0,255]

set_x_min(x_min: float)

Set the minimum value of x shown on the plot. If this value is not less than x_max, x_max will be updated to x_min + 1.

Parameters

x_min (float) – Minimum value of x shown on the plot.

set_y_min(y_min: float)

Set the minimum value of y shown on the plot. If this value is not less than y_max, y_max will be updated to y_min + 1.

Parameters

y_min (float) – Minimum value of y shown on the plot.

set_x_max(x_max: float)

Set maximum value of x shown on the plot. If this value is not greater than x_min, x_min will be updated to x_max - 1.

Parameters

x_max (float) – Maximum value of x shown on the plot.

set_y_max(y_max: float)

Set maximum value of y shown on the plot. If this value is not greater than y_min, y_min will be updated to y_max - 1.

Parameters

y_max (float) – Maximum value of y shown on the plot.

set_legend_by_index(idx: int, legend: str)

Set the legend for a specific plot whose index corresponds to the rows of x_data and y_data

Parameters
  • idx (int) – Index of legend to set.

  • legend (str) – Legend

set_legends(legends: List[str])

Set legends for each plot.

Parameters

legends (List[str]) – List of legends for each plot.

set_plot_height(plot_height: int)

Set the height of the plot.

Parameters

plot_height (int) – Height of the plot, proportional to the height of a line of text.

set_show_legend(show_legend: bool)

Hide or show the legend for this Widget

Parameters

show_legend (bool) – If True, show a legend for the Widget.

set_data(x_data: Union[List[List], List], y_data: Union[List[List], List])

Set the data to plot

Parameters
  • x_data (Union[List[List],List]) – A possibly ragged list of lists where each ith inner list is the x coordinates for plot i. For a single plot, the data may be provided as a list of floats. x_data must have exactly the same shape as y_data.

  • y_data (Union[List[List],List]) – A possibly ragged list of lists where each ith inner list is the y coordinates for plot i. For a single plot, the data may be provided as a list of floats. y_data must have exactly the same shape as x_data.

set_plot_visible_by_index(index: int, visible: bool)

Hide or show a specific plot

Parameters
  • index (int) – Index of plot to show

  • visible (bool) – If True, show the plot, otherwise hide it.

Specialized UI Element Wrappers

class LoadButton(label: str, text: str, tooltip: str = '', setup_scene_fn: Optional[Callable] = None, setup_post_load_fn: Optional[Callable] = None)

Create a special type of UI button that connects to the omni.isaac.core.World to enable convenient “Load” functionality. The World acts as a scene manager that simplifies user interaction with the simulator. This provides the user with certain guarantees at the time that their callback functions are called.

The setup_scene_fn() is called with the guarantee that a World has been created. In this function, the user is meant to add the asssets they want to the USD stage. These assets then must also be added to the World. World is a singleton class. And example setup_scene_fn implementation would include:

  • world = World.instance() # Get the unique instance of the World

  • world.scene.add(usd_object) # Add the user-loaded usd object to the scene

The setup_post_load() function is called with the gurantees that the World has been created, the setup_scene_fn() has already been called, all objects that the user added to the World have been properly initialized, and the timeline is paused at timestep 0.

Parameters
  • label (str) – Short descriptive text to the left of the LoadButton

  • text (str) – Text on the LoadButton

  • tooltip (str, optional) – Text to appear when the mouse hovers over the LoadButton. Defaults to “”.

  • setup_scene_fn (Callable, optional) – A function that will be called when the LoadButton is clicked. The user should use this function to add their assets to the USD stage and to add their assets to the World. This function should take 0 arguments. The return value will not be used. Defaults to None.

  • setup_post_load_fn (Callable, optional) – A function that will be called when the LoadButton is clicked. The function is called with the gurantees that the World has been created, the setup_scene_fn() has already been called, all objects that the user added to the World have been properly initialized, and the timeline is paused at timestep 0. This function should take 0 arguments. The return value will not be used. Defaults to None.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property button: omni.ui.Button

Returns: omni.ui.Button: UI Button element

set_setup_scene_fn(setup_scene_fn: Callable)

Set the setup_scene_fn that will be called when the LoadButton is clicked. The setup_scene_fn() is called with the guarantee that a World has been created. In this function, the user is meant to add the asssets they want to the USD stage. These assets then must also be added to the World. World is a singleton class. An example setup_scene_fn implementation would include:

world = World.instance() # Get the unique instance of the World world.scene.add(usd_object) # Add the user-loaded usd object to the scene

Parameters

setup_scene_fn (Callable) – A function that will be called when the LoadButton is clicked. The user should use this function to add their assets to the USD stage and to add their assets to the World. This function should take 0 arguments. The return value will not be used. Defaults to None.

set_setup_post_load_fn(setup_post_load_fn: Callable)

Set the setup_post_load_fn that will be called when the LoadButton is clicked.

Parameters

setup_post_load_fn (Callable) – A function that will be called when the LoadButton is clicked. The function is called with the gurantees that the World has been created, the setup_scene_fn() has already been called, all objects that the user added to the World have been properly initialized, and the timeline will be paused at timestep 0. This function should take 0 arguments. The return value will not be used. Defaults to None.

set_world_settings(**kwargs)

Pressing a Load Button will create a new instance of the omni.isaac.core.World. The default settings will be used unless the user specifies new settings at runtime before the Load Button is clicked.

The default settings will ensure that the physics and rendering timesteps are fixed at 1/60.0 seconds (see set_defaults argument). It is important to note that this will ensure that code is deterministic, but may not be executed in real time. I.e. physics and render dts will adjust automatically if the simulation is running too fast or slow.

Parameters
  • physics_dt (Optional[float], optional) – dt between physics steps. Defaults to None.

  • rendering_dt (Optional[float], optional) – dt between rendering steps. Note: rendering means rendering a frame of the current application and not only rendering a frame to the viewports/ cameras. So UI elements of Isaac Sim will be refereshed with this dt as well if running non-headless. Defaults to None.

  • stage_units_in_meters (Optional[float], optional) – The metric units of assets. This will affect gravity value..etc. Defaults to None.

  • physics_prim_path (Optional[str], optional) – specifies the prim path to create a PhysicsScene at, only in the case where no PhysicsScene already defined. Defaults to “/physicsScene”.

  • set_defaults (bool, optional) – set to True to use the defaults settings [physics_dt = 1.0/ 60.0, stage units in meters = 1 (i.e in meters), rendering_dt = 1.0 / 60.0, gravity = -9.81 m / s ccd_enabled, stabilization_enabled, gpu dynamics turned off, broadcast type is MBP, solver type is TGS]. Defaults to True.

  • backend (str, optional) – specifies the backend to be used (numpy or torch). Defaults to numpy.

  • device (Optional[str], optional) – specifies the device to be used if running on the gpu with torch backend.

class ResetButton(label: str, text: str, tooltip='', pre_reset_fn: Optional[Callable] = None, post_reset_fn: Optional[Callable] = None)

Create a special type of UI button that connects to the omni.isaac.core.World to perform a reset. If no World instance exists when this button will be clicked, this button will not create one. In this case, the button logs a warning and calls user callback functions with no guarantees on the Simulator State.

Parameters
  • label (str) – Short descriptive text to the left of the ResetButton.

  • text (str) – Text on the ResetButton

  • tooltip (str, optional) – Text to appear when the mouse hovers over the ResetButton. Defaults to “”.

  • pre_reset_fn (Callable, optional) – A function that will be called before resetting the World. This function should take 0 arguments. The return value will not be used. Defaults to None.

  • post_reset_fn (Callable, optional) – A function that will be called after the World is reset. When this function is called, the timeline will be paused at timestep 0, and all USD assets added to the World will be properly initialized and placed at their default positions. This function should take no arguments. The return value will not be used. Defaults to None.

property label: omni.ui.Label

Returns: omni.ui.Label: UI Label element that contains the descriptive text

property button: omni.ui.Button

Returns: omni.ui.Button: UI Button element

set_pre_reset_fn(pre_reset_fn: Callable)

Set the pre_reset_fn for when the ResetButton is clicked.

Parameters

pre_reset_fn (Callable) – A function that will be called before resetting the World. This function should take 0 arguments. The return value will not be used.

set_post_reset_fn(post_reset_fn: Callable)

Set the post_reset_fn for when the ResetButton is clicked.

Parameters

post_reset_fn (Callable) – A function that will be called after the World is reset. When this function is called, the timeline will be paused at timestep 0, and all USD assets added to the World will be properly initialized and placed at their default locations. This function should take no arguments. The return value will not be used.