use arrow keys on Jonas computer

leggedrobotics · Aug 4, 2023 · ef2e580 · ef2e580
1 parent 57cce26
commit ef2e580
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Showing 15 changed files with 12 additions and 3 deletions.
diff --git a/wild_visual_navigation_orbit/config.py b/wild_visual_navigation_orbit/config.py
@@ -86,6 +86,8 @@ class SimConfig:
     # Simulation and Planner params
     sim_mode = 'wvn' # either 'log' or 'wvn'. If 'log', just collects images and camera locations. If 'wvn', runs the full wvn pipeline
     manual_control = True
+    teamviewer=True
+
     robot_spawn_location = (0, 0, 0)
     env_x = 40
     env_y = 80

diff --git a/wild_visual_navigation_orbit/live_overlay.jpg b/wild_visual_navigation_orbit/live_overlay.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_0.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_0.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_1.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_1.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_10.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_10.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_11.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_11.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_2.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_2.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_3.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_3.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_4.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_4.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_5.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_5.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_6.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_6.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_7.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_7.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_8.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_8.jpg
diff --git a/wild_visual_navigation_orbit/signal_hub/overlaid_9.jpg b/wild_visual_navigation_orbit/signal_hub/overlaid_9.jpg
diff --git a/wild_visual_navigation_orbit/wvn_orbit_main.py b/wild_visual_navigation_orbit/wvn_orbit_main.py
@@ -741,8 +741,11 @@ def _sub_keyboard_event(self, event, *args, **kwargs) -> bool:
         if event.type == carb.input.KeyboardEventType.KEY_PRESS:
             # on pressing, the command is incremented
             if event.input.name in SimConfig.input_keyboard_mapping:
-
-                self._base_command[0:3] == np.array(SimConfig.input_keyboard_mapping[event.input.name])
+                if SimConfig.teamviewer:
+                    self._base_command[0:3] == np.array(SimConfig.input_keyboard_mapping[event.input.name])
+                else:
+                    self._base_command[0:3] += np.array(SimConfig.input_keyboard_mapping[event.input.name])
+
                 print(self._base_command)
             elif event.input.name == "R":
                 self.respawn_anymal(SimConfig.robot_spawn_location)
@@ -754,8 +757,12 @@ def _sub_keyboard_event(self, event, *args, **kwargs) -> bool:
         elif event.type == carb.input.KeyboardEventType.KEY_RELEASE:
             # on release, the command is decremented
             if event.input.name in SimConfig.input_keyboard_mapping:
-                self._base_command[0:3] += np.array(SimConfig.input_keyboard_mapping[event.input.name])
+                if SimConfig.teamviewer:
+                    self._base_command[0:3] += np.array(SimConfig.input_keyboard_mapping[event.input.name])
+                else:
+                    self._base_command[0:3] -= np.array(SimConfig.input_keyboard_mapping[event.input.name])
                 print(self._base_command)
+
         return True
 
     def respawn_anymal(self, loc=(0,0,0)):