HITL - Change key enums. (#1985)

* Use KeyCode instead of KeyNS.

* Use MouseButton instead of MouseNS.

* Remove reference code for moving spot arm.

examples/hitl/basic_viewer/basic_viewer.py

@@ -9,9 +9,9 @@
 
 from habitat_hitl.app_states.app_service import AppService
 from habitat_hitl.app_states.app_state_abc import AppState
-from habitat_hitl.core.gui_input import GuiInput
 from habitat_hitl.core.hitl_main import hitl_main
 from habitat_hitl.core.hydra_utils import register_hydra_plugins
+from habitat_hitl.core.key_mapping import KeyCode
 from habitat_hitl.core.text_drawer import TextOnScreenAlignment
 from habitat_hitl.environment.camera_helper import CameraHelper
 
@@ -46,17 +46,17 @@ def _update_lookat_pos(self):
         # update lookat
         move_delta = 0.1
         move = mn.Vector3.zero_init()
-        if self._gui_input.get_key(GuiInput.KeyNS.W):
+        if self._gui_input.get_key(KeyCode.W):
             move.x -= move_delta
-        if self._gui_input.get_key(GuiInput.KeyNS.S):
+        if self._gui_input.get_key(KeyCode.S):
             move.x += move_delta
-        if self._gui_input.get_key(GuiInput.KeyNS.E):
+        if self._gui_input.get_key(KeyCode.E):
             move.y += move_delta
-        if self._gui_input.get_key(GuiInput.KeyNS.Q):
+        if self._gui_input.get_key(KeyCode.Q):
             move.y -= move_delta
-        if self._gui_input.get_key(GuiInput.KeyNS.J):
+        if self._gui_input.get_key(KeyCode.J):
             move.z += move_delta
-        if self._gui_input.get_key(GuiInput.KeyNS.L):
+        if self._gui_input.get_key(KeyCode.L):
             move.z -= move_delta
 
         # align move forward direction with lookat direction
@@ -159,24 +159,24 @@ def on_environment_reset(self, episode_recorder_dict):
         self._camera_helper.update(self._get_camera_lookat_pos(), dt=0)
 
     def sim_update(self, dt, post_sim_update_dict):
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.ESC):
+        if self._app_service.gui_input.get_key_down(KeyCode.ESC):
             self._app_service.end_episode()
             post_sim_update_dict["application_exit"] = True
 
         if (
             self._env_episode_active()
-            and self._app_service.gui_input.get_key_down(GuiInput.KeyNS.P)
+            and self._app_service.gui_input.get_key_down(KeyCode.P)
         ):
             self._paused = not self._paused
 
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.SPACE):
+        if self._app_service.gui_input.get_key_down(KeyCode.SPACE):
             self._do_single_step = True
             self._paused = True
 
         is_paused_this_frame = self._paused and not self._do_single_step
 
         if (
-            self._app_service.gui_input.get_key_down(GuiInput.KeyNS.M)
+            self._app_service.gui_input.get_key_down(KeyCode.M)
             and self._episode_helper.next_episode_exists()
             and not is_paused_this_frame
         ):

examples/hitl/minimal/minimal.py

@@ -3,15 +3,14 @@
 # Copyright (c) Meta Platforms, Inc. and its affiliates.
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
-
 import hydra
 import magnum
 
 from habitat_hitl.app_states.app_service import AppService
 from habitat_hitl.app_states.app_state_abc import AppState
-from habitat_hitl.core.gui_input import GuiInput
 from habitat_hitl.core.hitl_main import hitl_main
 from habitat_hitl.core.hydra_utils import register_hydra_plugins
+from habitat_hitl.core.key_mapping import KeyCode
 
 
 class AppStateMinimal(AppState):
@@ -40,7 +39,7 @@ def sim_update(self, dt, post_sim_update_dict):
         )
 
         # exit when the ESC key is pressed
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.ESC):
+        if self._app_service.gui_input.get_key_down(KeyCode.ESC):
             post_sim_update_dict["application_exit"] = True
 
 

examples/hitl/pick_throw_vr/pick_throw_vr.py

@@ -13,9 +13,9 @@
 from habitat.datasets.rearrange.navmesh_utils import get_largest_island_index
 from habitat_hitl.app_states.app_service import AppService
 from habitat_hitl.app_states.app_state_abc import AppState
-from habitat_hitl.core.gui_input import GuiInput
 from habitat_hitl.core.hitl_main import hitl_main
 from habitat_hitl.core.hydra_utils import register_hydra_plugins
+from habitat_hitl.core.key_mapping import KeyCode, MouseButton
 from habitat_hitl.core.text_drawer import TextOnScreenAlignment
 from habitat_hitl.environment.avatar_switcher import AvatarSwitcher
 from habitat_hitl.environment.camera_helper import CameraHelper
@@ -149,10 +149,10 @@ def get_sim(self):
 
     def get_grasp_keys_by_hand(self, hand_idx):
         if hand_idx == 0:
-            return [GuiInput.KeyNS.ZERO, GuiInput.KeyNS.ONE]
+            return [KeyCode.ZERO, KeyCode.ONE]
         else:
             assert hand_idx == 1
-            return [GuiInput.KeyNS.TWO, GuiInput.KeyNS.THREE]
+            return [KeyCode.TWO, KeyCode.THREE]
 
     def _try_grasp_remote(self):
         assert not self._held_target_obj_idx
@@ -350,7 +350,7 @@ def _update_grasping_and_set_act_hints_local(self):
         self._has_grasp_preview = False
 
         if self._held_target_obj_idx is not None:
-            if self._app_service.gui_input.get_key(GuiInput.KeyNS.SPACE):
+            if self._app_service.gui_input.get_key(KeyCode.SPACE):
                 if self._recent_reach_pos:
                     # Continue reaching towards the recent reach position (the
                     # original position of the grasped object before it was snapped
@@ -368,7 +368,7 @@ def _update_grasping_and_set_act_hints_local(self):
                     # also preview throw
                     _ = self._throw_helper.viz_and_get_humanoid_throw()
 
-            if self._app_service.gui_input.get_key_up(GuiInput.KeyNS.SPACE):
+            if self._app_service.gui_input.get_key_up(KeyCode.SPACE):
                 if self._recent_reach_pos:
                     # this spacebar release means we've finished the reach-and-grasp motion
                     self._recent_reach_pos = None
@@ -413,9 +413,7 @@ def _update_grasping_and_set_act_hints_local(self):
                     )
                     self._has_grasp_preview = True
 
-                    if self._app_service.gui_input.get_key_down(
-                        GuiInput.KeyNS.SPACE
-                    ):
+                    if self._app_service.gui_input.get_key_down(KeyCode.SPACE):
                         self._recent_reach_pos = (
                             self._get_target_object_position(min_i)
                         )
@@ -430,9 +428,7 @@ def _update_grasping_and_set_act_hints_local(self):
         walk_dir = None
         distance_multiplier = 1.0
 
-        if self._app_service.gui_input.get_mouse_button(
-            GuiInput.MouseNS.RIGHT
-        ):
+        if self._app_service.gui_input.get_mouse_button(MouseButton.RIGHT):
             (
                 candidate_walk_dir,
                 candidate_distance_multiplier,
@@ -614,7 +610,7 @@ def _get_camera_lookat_pos(self):
         return lookat
 
     def sim_update(self, dt, post_sim_update_dict):
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.ESC):
+        if self._app_service.gui_input.get_key_down(KeyCode.ESC):
             self._app_service.end_episode()
             post_sim_update_dict["application_exit"] = True
 
@@ -624,11 +620,11 @@ def sim_update(self, dt, post_sim_update_dict):
         episode_id_by_scene_index = ["0", "5", "10", "15", "20"]
         for scene_idx in range(num_fetch_scenes):
             key_map = [
-                GuiInput.KeyNS.ONE,
-                GuiInput.KeyNS.TWO,
-                GuiInput.KeyNS.THREE,
-                GuiInput.KeyNS.FOUR,
-                GuiInput.KeyNS.FIVE,
+                KeyCode.ONE,
+                KeyCode.TWO,
+                KeyCode.THREE,
+                KeyCode.FOUR,
+                KeyCode.FIVE,
             ]
             key = key_map[scene_idx]
             if self._app_service.gui_input.get_key_down(key):
@@ -637,10 +633,10 @@ def sim_update(self, dt, post_sim_update_dict):
                 )
                 self._app_service.end_episode(do_reset=True)
 
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.P):
+        if self._app_service.gui_input.get_key_down(KeyCode.P):
             self._paused = not self._paused
 
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.H):
+        if self._app_service.gui_input.get_key_down(KeyCode.H):
             self._hide_gui_text = not self._hide_gui_text
 
         # toggle remote/local under certain conditions:
@@ -650,7 +646,7 @@ def sim_update(self, dt, post_sim_update_dict):
             self._app_service.hitl_config.networking.enable
             and self._held_target_obj_idx is None
             and (
-                self._app_service.gui_input.get_key_down(GuiInput.KeyNS.T)
+                self._app_service.gui_input.get_key_down(KeyCode.T)
                 or (
                     not self._is_remote_active_toggle
                     and self._app_service.remote_client_state.get_gui_input().get_any_key_down()
@@ -659,7 +655,7 @@ def sim_update(self, dt, post_sim_update_dict):
         ):
             self._is_remote_active_toggle = not self._is_remote_active_toggle
 
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.TAB):
+        if self._app_service.gui_input.get_key_down(KeyCode.TAB):
             self._avatar_switch_helper.switch_avatar()
 
         if not self._paused:

examples/hitl/rearrange/rearrange.py

@@ -13,9 +13,9 @@
 from habitat_hitl.app_states.app_service import AppService
 from habitat_hitl.app_states.app_state_abc import AppState
 from habitat_hitl.app_states.app_state_tutorial import AppStateTutorial
-from habitat_hitl.core.gui_input import GuiInput
 from habitat_hitl.core.hitl_main import hitl_main
 from habitat_hitl.core.hydra_utils import register_hydra_plugins
+from habitat_hitl.core.key_mapping import KeyCode, MouseButton
 from habitat_hitl.core.text_drawer import TextOnScreenAlignment
 from habitat_hitl.environment.camera_helper import CameraHelper
 from habitat_hitl.environment.controllers.gui_controller import (
@@ -142,7 +142,7 @@ def _update_grasping_and_set_act_hints(self):
                 mn.Color3(255 / 255, 255 / 255, 0),
             )
 
-            if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.SPACE):
+            if self._app_service.gui_input.get_key_down(KeyCode.SPACE):
                 translation = self._get_agent_translation()
                 dist_to_obj = np.linalg.norm(goal_position - translation)
                 if dist_to_obj < self._can_grasp_place_threshold:
@@ -153,9 +153,7 @@ def _update_grasping_and_set_act_hints(self):
             if self._held_target_obj_idx is None:
                 assert not self._gui_agent_ctrl.is_grasped
                 # pick up an object
-                if self._app_service.gui_input.get_key_down(
-                    GuiInput.KeyNS.SPACE
-                ):
+                if self._app_service.gui_input.get_key_down(KeyCode.SPACE):
                     translation = self._get_agent_translation()
 
                     min_dist = self._can_grasp_place_threshold
@@ -188,9 +186,7 @@ def _update_grasping_and_set_act_hints(self):
             ) = self._nav_helper.get_humanoid_walk_hints_from_ray_cast(
                 visualize_path=True
             )
-            if self._app_service.gui_input.get_mouse_button(
-                GuiInput.MouseNS.RIGHT
-            ):
+            if self._app_service.gui_input.get_mouse_button(MouseButton.RIGHT):
                 walk_dir = candidate_walk_dir
                 distance_multiplier = candidate_distance_multiplier
 
@@ -438,12 +434,12 @@ def _get_camera_lookat_pos(self):
         return lookat
 
     def sim_update(self, dt, post_sim_update_dict):
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.ESC):
+        if self._app_service.gui_input.get_key_down(KeyCode.ESC):
             self._app_service.end_episode()
             post_sim_update_dict["application_exit"] = True
 
         if (
-            self._app_service.gui_input.get_key_down(GuiInput.KeyNS.M)
+            self._app_service.gui_input.get_key_down(KeyCode.M)
             and self._episode_helper.next_episode_exists()
         ):
             self._app_service.end_episode(do_reset=True)

examples/hitl/rearrange_v2/rearrange_v2.py

@@ -28,7 +28,7 @@
     AverageRateTracker,
 )
 from habitat_hitl.app_states.app_service import AppService
-from habitat_hitl.core.gui_input import GuiInput
+from habitat_hitl.core.key_mapping import KeyCode
 from habitat_hitl.core.text_drawer import TextOnScreenAlignment
 from habitat_hitl.core.user_mask import Mask, Users
 from habitat_hitl.environment.camera_helper import CameraHelper
@@ -274,10 +274,10 @@ def update(self, dt: float):
             self.end_episode_form.step()
             return
 
-        if self.gui_input.get_key_down(GuiInput.KeyNS.H):
+        if self.gui_input.get_key_down(KeyCode.H):
             self.show_gui_text = not self.show_gui_text
 
-        if self.gui_input.get_key_down(GuiInput.KeyNS.ZERO):
+        if self.gui_input.get_key_down(KeyCode.ZERO):
             self.end_episode_form.show()
 
         if self.client_helper:
@@ -668,14 +668,14 @@ def sim_update(self, dt: float, post_sim_update_dict):
             # Server GUI exit.
             if (
                 not self._app_service.hitl_config.networking.enable
-                and self._server_gui_input.get_key_down(GuiInput.KeyNS.ESC)
+                and self._server_gui_input.get_key_down(KeyCode.ESC)
             ):
                 self._app_service.end_episode()
                 post_sim_update_dict["application_exit"] = True
                 return
 
             # Skip the form when changing the episode from the server.
-            if self._server_gui_input.get_key_down(GuiInput.KeyNS.ZERO):
+            if self._server_gui_input.get_key_down(KeyCode.ZERO):
                 server_user = self._user_data[self._server_user_index]
                 if (
                     server_user.agent_data.episode_completion_status
@@ -685,7 +685,7 @@ def sim_update(self, dt: float, post_sim_update_dict):
 
             # Switch the server-controlled user.
             if self._num_users > 0 and self._server_gui_input.get_key_down(
-                GuiInput.KeyNS.TAB
+                KeyCode.TAB
             ):
                 self._server_user_index = (
                     self._server_user_index + 1

habitat-hitl/README.md

@@ -121,7 +121,7 @@ class AppStateMinimal(AppState):
         )
 
         # exit when the ESC key is pressed
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.ESC):
+        if self._app_service.gui_input.get_key_down(KeyCode.ESC):
             post_sim_update_dict["application_exit"] = True
 
 

habitat-hitl/habitat_hitl/app_states/app_state_tutorial.py

@@ -3,9 +3,8 @@
 # Copyright (c) Meta Platforms, Inc. and its affiliates.
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
-
 from habitat_hitl.app_states.app_state_abc import AppState
-from habitat_hitl.core.gui_input import GuiInput
+from habitat_hitl.core.key_mapping import KeyCode
 from habitat_hitl.core.text_drawer import TextOnScreenAlignment
 from habitat_hitl.environment.hitl_tutorial import Tutorial, generate_tutorial
 
@@ -61,10 +60,10 @@ def _sim_update_tutorial(self, dt: float):
 
         self._tutorial.update(dt)
 
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.SPACE):
+        if self._app_service.gui_input.get_key_down(KeyCode.SPACE):
             self._tutorial.skip_stage()
 
-        if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.Q):
+        if self._app_service.gui_input.get_key_down(KeyCode.Q):
             while not self._tutorial.is_completed():
                 self._tutorial.skip_stage()
 

habitat-hitl/habitat_hitl/core/gui_input.py

@@ -21,9 +21,6 @@ class GuiInput:
     This class isn't usable by itself for getting input from the underlying OS. I.e. it won't self-populate from underlying OS input APIs. See also gui_application.py InputHandlerApplication.
     """
 
-    KeyNS = KeyCode
-    MouseNS = MouseButton
-
     def __init__(self):
         self._key_held = set()
         self._mouse_button_held = set()

habitat-hitl/habitat_hitl/core/remote_client_state.py

@@ -77,10 +77,10 @@ def __init__(
 
         # temp map VR button to key
         self._button_map = {
-            0: GuiInput.KeyNS.ZERO,
-            1: GuiInput.KeyNS.ONE,
-            2: GuiInput.KeyNS.TWO,
-            3: GuiInput.KeyNS.THREE,
+            0: KeyCode.ZERO,
+            1: KeyCode.ONE,
+            2: KeyCode.TWO,
+            3: KeyCode.THREE,
         }
 
     @property