Graphical User Interface (GUI)

Launch the Rust GUI with ROS 2 Jazzy sourced:

source /opt/ros/jazzy/setup.bash
srb gui

The GUI uses egui and r2r. It does not support the optional NVIDIA NGC image.

Pages

• Tasks: Browse, filter, and select catalog tasks.
• Session: Run, restart, or end the selected task. Tune gravity and latency while it runs.
• Metrics: Plot environment 0 reward (/gui/reward) while a task runs.
• Configure (window): Edit task options and Hydra overrides. Then preview, copy, or run the equivalent command.
  • Displayed text redacts credentials. Processes receive the exact arguments.
  • Put argparse options before Hydra key=value overrides. Do not use --.

The footer toggles the theme and records episode configurations. Recorded DATA rows contain the launched configuration and published runtime_params, such as gravity. The values stay null until the first successful publish. Each launch republishes all parameters. Volatile ROS QoS means new processes can miss values.

Demo defaults:

Cached haptic devices have generic advanced-controls checkboxes. They have no dedicated GUI controls.

srb gui — Launch GUI

Hint: Arguments after -- go to the GUI application. The exceptions are -h and --help.

SRB checks for cargo and rustc. If either is missing, set an executable prebuilt GUI:

SRB_GUI_BINARY=/path/to/gui srb gui

Outside a source checkout, run python -m srb. Use the Python interpreter where SRB is installed: ISAACSIM_PYTHON, Isaac Sim’s Python, or python3.

In a development tree, SRB uses target/release/gui or target/debug/gui only when cargo or rustc is missing. It prints a warning in that case. Otherwise, SRB builds the GUI from source. SRB_GUI_BINARY takes precedence. Missing or invalid inputs cause a typed CLI error before startup.

Example

srb gui -- --help

Refresh GUI Catalog

After changing task metadata, cache generation, assets, thumbnails, or interfaces, run srb cache update:

srb cache update

Discovery launches Isaac Sim 6.1. srb cache status and srb cache doctor inspect catalogs without it but cannot regenerate metadata. Repair missing, incomplete, or tampered pointers and generations with srb cache update.

Task cards and options use immutable gui_catalog.json generations. srb cache update hashes and validates twelve members. It then atomically switches current.json.

Generations live at <cache root>/namespaces/<namespace>/offline/generations/<generation-id>/.

Set SRB_CACHE_ROOT to choose the cache root. Defaults:

• Source checkout: <checkout>/.cache
• Other installs: ~/.cache/srb, or $XDG_CACHE_HOME/srb when set

Before reading the catalog, the GUI validates the pointer, manifest, members, semantics, and catalog.

srb gui sets SRB_GUI_OFFLINE_CACHE_ROOT to Python’s resolved root.

Direct launches query srb cache status --json with a 30-second timeout. A failure or disagreement opens a recovery page.

Task Thumbnails

Thumbnails load from:

docs/src/_graphics/tasks/<task>.webp

Generate or refresh a thumbnail with:

srb doc thumbnail --task excavation_demo --force --width 320 --height 240

After rendering, srb doc thumbnail republishes the current generation. It rebuilds the GUI catalog and copies the other members.

If the generation is absent or outdated, the command warns without changing the cache. Missing thumbnails are nonfatal. The fallbacks are robot, scenery, domain, and the SRB placeholder.

Command Shape

srb agent teleop --env excavation_demo --hide_ui --rendering_mode quality --interface gui --teleop_device keyboard spacemouse env.domain=MOON env.seed=0 env.num_envs=1 env.stack=true env.robot=kinova_gen3n7+scoop_custom3

The customization panel accepts Hydra overrides, such as env.demo_regolith_quality=visual.