Class ManipulationController

dm_control/viewer/viewer.py:460–546

Binds control over scene objects to user input.

class ManipulationController:
  """Binds control over scene objects to user input."""

  def __init__(self, viewport, camera, pointer, **unused):
    """Instance initializer.

    Args:
      viewport: Instance of mujoco_viewer.Viewport.
      camera: Instance of mujoco_viewer.SceneCamera.
      pointer: A pointer that moves around the screen and is used to point at
        bodies. Implements a single attribute - 'position' - that returns a
        2-component vector of pointer's screen space position.
      **unused: Other arguments, unused by this class.
    """
    del unused  # Unused.
    self._viewport = viewport
    self._camera = camera
    self._pointer = pointer
    self._action = util.AtomicAction(self._update_action)
    self._perturb = None

  def select(self):
    """Translates mouse double-clicks to object selection action."""
    body_id, _ = self._camera.raycast(self._viewport, self._pointer.position)
    if body_id >= 0:
      self._perturb = self._camera.new_perturbation(body_id)
    else:
      self._perturb = None

  def set_move_vertical_mode(self, enable):
    """Begins/ends an object translation action along the vertical plane.

    Args:
      enable: A boolean flag, True begins the action, False ends it.
    """
    if enable:
      self._action.begin(mujoco.mjtMouse.mjMOUSE_MOVE_V)
    else:
      self._action.end(mujoco.mjtMouse.mjMOUSE_MOVE_V)

  def set_move_horizontal_mode(self, enable):
    """Begins/ends an object translation action along the horizontal plane.

    Args:
      enable: A boolean flag, True begins the action, False ends it.
    """
    if enable:
      self._action.begin(mujoco.mjtMouse.mjMOUSE_MOVE_H)
    else:
      self._action.end(mujoco.mjtMouse.mjMOUSE_MOVE_H)

  def set_rotate_mode(self, enable):
    """Begins/ends an object rotation action.

    Args:
      enable: A boolean flag, True begins the action, False ends it.
    """
    if enable: