From ef2e580f7f4c1a206a53ecd3278f3c88b5a3df52 Mon Sep 17 00:00:00 2001 From: Will H Date: Fri, 4 Aug 2023 05:45:26 -0400 Subject: [PATCH] use arrow keys on Jonas computer --- wild_visual_navigation_orbit/config.py | 2 ++ wild_visual_navigation_orbit/live_overlay.jpg | Bin 9060 -> 2682 bytes .../signal_hub/overlaid_0.jpg | Bin 0 -> 2400 bytes .../signal_hub/overlaid_1.jpg | Bin 0 -> 2516 bytes .../signal_hub/overlaid_10.jpg | Bin 0 -> 2642 bytes .../signal_hub/overlaid_11.jpg | Bin 0 -> 2682 bytes .../signal_hub/overlaid_2.jpg | Bin 0 -> 2592 bytes .../signal_hub/overlaid_3.jpg | Bin 0 -> 2682 bytes .../signal_hub/overlaid_4.jpg | Bin 0 -> 2751 bytes .../signal_hub/overlaid_5.jpg | Bin 0 -> 2813 bytes .../signal_hub/overlaid_6.jpg | Bin 0 -> 2836 bytes .../signal_hub/overlaid_7.jpg | Bin 0 -> 2879 bytes .../signal_hub/overlaid_8.jpg | Bin 0 -> 2485 bytes .../signal_hub/overlaid_9.jpg | Bin 0 -> 2506 bytes .../wvn_orbit_main.py | 13 ++++++++++--- 15 files changed, 12 insertions(+), 3 deletions(-) create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_0.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_1.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_10.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_11.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_2.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_3.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_4.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_5.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_6.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_7.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_8.jpg create mode 100644 wild_visual_navigation_orbit/signal_hub/overlaid_9.jpg diff --git a/wild_visual_navigation_orbit/config.py b/wild_visual_navigation_orbit/config.py index 56e761b6..2c4948ef 100644 --- 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 index 25a9a3973124ed398bf8df28ff630a73ede66bde..5371a78b6007a284c2b21e5e93c4d350f9069201 100644 GIT binary patch delta 2083 zcmc&#X;hQP8vcSTic%Yi3jst5Lb!;?Qbg1MN54P-(IAVFun9s4MbLm~gM5H+pb>}$ z8X+izKoBglG`JLscqz+OmJ~(F?G+Q2ltqmsCJ+$#Zs{#kxy;iBc#}3jyHuM-JQky55zR_vK6)G!2+~XsPM9W;yRiH14HdFP*}d4?cb*A zt-ihZ|zdgf(1#eeyE;$><%aGH$J<&zXYYqCiq! zUMBTd`mcS1+$NqZA;&aZ5})GxFZzkBpK#x7bX#Zs;fpwnu6nvNK^v@s+L-stn?_O_k(s}GM3sdxOS?? zC(@8FdM2x#WSnce(Yn19ys$jkP3y^8Z;W1hdZhQL-S?h~N9zT?R8@e9iWF)J1LX&8 zSC;WG(Dih#$>hgtZ-;`?UoH`3qzYOeBnX-^NZn7!lrK3FV z`pnzB+-mZ0M#1Jp9p8@Y_YV0J6+C-lWad_O>=x%rzX53?>I=NNVzYeY_lk=(eHIT} z%Vv(X9ukSI|sQmu*>5of|}lAOJE?Y@)wc9_?heMZdX}dxr&&EgaL?if5qDy 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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)):