pyrcf.components.global_planners.ui_reference_generators.key_mappings

Attributes

MAX_LIN_VEL
MAX_ANG_VEL
LIN_VEL_DELTA
ANG_VEL_DELTA
POS_DELTA
JOINT_POS_DELTA
_jpi
DEFAULT_KEYBOARD_MAPPING	Default key mappings when using the keyboard interface for sending global motion
_jpi2
DEFAULT_GAMEPAD_MAPPINGS	Default joystick mapping when using JoystickInterface as global planner for sending

Classes

GamePadButtonMappings	By default all buttons do nothing to the GlobalMotionPlan object.
GamePadAnalogStickMappings	By default all analog sticks do nothing to the GlobalMotionPlan object.
GamePadMappings

Functions

_return_arg1(x, *args, **kwargs)
toggle_mapping(mapping, key_name, bindings)	Toggle between two bindings (callables) for the specified attribute name in the mapping.
_toggle_mapping_and_return_original_gplan(global_plan, ...)

Module Contents

pyrcf.components.global_planners.ui_reference_generators.key_mappings.MAX_LIN_VEL = 0.5

pyrcf.components.global_planners.ui_reference_generators.key_mappings.MAX_ANG_VEL = 1.0

pyrcf.components.global_planners.ui_reference_generators.key_mappings.LIN_VEL_DELTA = 0.05

pyrcf.components.global_planners.ui_reference_generators.key_mappings.ANG_VEL_DELTA = 0.1

pyrcf.components.global_planners.ui_reference_generators.key_mappings.POS_DELTA = 0.02

pyrcf.components.global_planners.ui_reference_generators.key_mappings.JOINT_POS_DELTA = 0.01

pyrcf.components.global_planners.ui_reference_generators.key_mappings._jpi

pyrcf.components.global_planners.ui_reference_generators.key_mappings.DEFAULT_KEYBOARD_MAPPING

Default key mappings when using the keyboard interface for sending global motion plan messages.

• o –> TOGGLE between CUSTOM and IDLE

• h –> HOLD_POSITION

• w –> APPLY_LIN_VEL_DELTA(np.array([0.05, 0.0, 0.0]))

• s –> APPLY_LIN_VEL_DELTA(np.array([-0.05, 0.0, 0.0]))

• q –> APPLY_LIN_VEL_DELTA(np.array([0.0, 0.05, 0.0]))

• e –> APPLY_LIN_VEL_DELTA(np.array([0.0, -0.05, 0.0]))

• a –> APPLY_ROT_VEL_DELTA(np.array([0.0, 0.0, 0.1]))

• d –> APPLY_ROT_VEL_DELTA(np.array([0.0, 0.0, -0.1]))

• up –> increment selected joint by 0.01 units

• down –> reduce reference joint position target for selected joint by 0.01 units

• right –> increment the id of the joint to be controlled with up/down keys

• left –> reduce the id of the joint to be controlled with up/down keys by 1

pyrcf.components.global_planners.ui_reference_generators.key_mappings._return_arg1(x: Any, *args, **kwargs)

class pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadButtonMappings

By default all buttons do nothing to the GlobalMotionPlan object.

Each button mapping can be replaced with another function callable that takes as argument a GlobalMotionPlan object and returns another GlobalMotionPlan object.

NORTH: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

SOUTH: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

EAST: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

WEST: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

DPAD_UP: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

DPAD_DOWN: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

DPAD_LEFT: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

DPAD_RIGHT: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

START_BUTTON: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

RB: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

LB: Callable[[pyrcf.core.types.GlobalMotionPlan], pyrcf.core.types.GlobalMotionPlan]

class pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadAnalogStickMappings

By default all analog sticks do nothing to the GlobalMotionPlan object.

Each analog stick mapping can be replaced with another function callable that takes as argument a GlobalMotionPlan object and a scaling value (float from the analog output (e.g. joystick value)), and returns a GlobalMotionPlan object.

LEFT_X: Callable[[pyrcf.core.types.GlobalMotionPlan, float], pyrcf.core.types.GlobalMotionPlan]

LEFT_Y: Callable[[pyrcf.core.types.GlobalMotionPlan, float], pyrcf.core.types.GlobalMotionPlan]

RIGHT_X: Callable[[pyrcf.core.types.GlobalMotionPlan, float], pyrcf.core.types.GlobalMotionPlan]

RIGHT_Y: Callable[[pyrcf.core.types.GlobalMotionPlan, float], pyrcf.core.types.GlobalMotionPlan]

RT: Callable[[pyrcf.core.types.GlobalMotionPlan, float], pyrcf.core.types.GlobalMotionPlan]

LT: Callable[[pyrcf.core.types.GlobalMotionPlan, float], pyrcf.core.types.GlobalMotionPlan]

class pyrcf.components.global_planners.ui_reference_generators.key_mappings.GamePadMappings

button_mappings: GamePadButtonMappings

analog_mappings: GamePadAnalogStickMappings

pyrcf.components.global_planners.ui_reference_generators.key_mappings.toggle_mapping(mapping: GamePadButtonMappings | GamePadAnalogStickMappings, key_name: str, bindings: Tuple[Callable[Ellipsis, pyrcf.core.types.GlobalMotionPlan], Callable[Ellipsis, pyrcf.core.types.GlobalMotionPlan]])

Toggle between two bindings (callables) for the specified attribute name in the mapping.

Parameters:

• mapping (GamePadButtonMappings | GamePadAnalogStickMappings) – The original mapping (should be mutable).

• key_name (str) – Name of the attribute whose binding is to be modified.

• bindings (Tuple[Callable[..., GlobalMotionPlan], Callable[..., GlobalMotionPlan]]) – The two bindings to switch between.

pyrcf.components.global_planners.ui_reference_generators.key_mappings._toggle_mapping_and_return_original_gplan(global_plan: pyrcf.core.types.GlobalMotionPlan, mapping: GamePadButtonMappings | GamePadAnalogStickMappings, key_name: str, bindings: Tuple[Callable[Ellipsis, pyrcf.core.types.GlobalMotionPlan], Callable[Ellipsis, pyrcf.core.types.GlobalMotionPlan]])

pyrcf.components.global_planners.ui_reference_generators.key_mappings._jpi2

pyrcf.components.global_planners.ui_reference_generators.key_mappings.DEFAULT_GAMEPAD_MAPPINGS

Default joystick mapping when using JoystickInterface as global planner for sending global plan messages.

NOTE: SOUTH, EAST, WEST, NORTH below indicates the keys on the right side of the joypad.

(e.g. this is A, B, X, Y respectively on logitech joypad)

BUG: WEST and NORTH for logitech seems to be switched!!

• Start btn –> Toggle between CUSTOM and IDLE modes

• South –> HOLD_POSITION

• DPAD UP –> Increase joint position target for the current joint id by 0.01 units.

• DPAD DOWN –> Decrease joint position target for the current joint id by 0.01 units.

• DPAD LEFT –> Change the ID of the joint by -1 (affects actions of DPAD UP and DOWN buttons).

• DPAD LEFT –> Change the ID of the joint by +1 (affects actions of DPAD UP and DOWN buttons).

• LEFT Analog up/down –> apply linear velocity forward/backward (x axis) (max vel: 0.5 m/s)

  (OR) apply linear velocity up/down (z axis) (max vel: 0.5 m/s). Toggle behaviour of LEFT Analog up/down using LB button.

• LEFT Analog right/left –> apply linear velocity right/left (base frame) (max vel: 0.5 m/s)

• RIGHT Analog right/left –> apply rotational velocity (about z axis of base frame; yaw rate)

  (max vel: 1.0 rad/sec) (OR) apply rotational velocity (about x axis; roll rate) (max vel: 0.5 m/s). Toggle behaviour of RIGHT Analog right/left using RB button.

• RIGHT Analog up/down –> apply rotational velocity (about y axis of global frame; pitch rate)

• LB: This button changes the behaviour of the LEFT analog stick. Switches between sending

  linear velocity along X, and linear velocity along Z.

• RB: This button changes the behaviour of the RIGHT analog stick. Switches between sending

  angular velocity about X, and linear velocity about Z.