# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Keyboard controller for SE(2) control."""
import numpy as np
import weakref
from collections.abc import Callable
import carb
import omni
from ..device_base import DeviceBase
[文档]class Se2Keyboard(DeviceBase):
r"""A keyboard controller for sending SE(2) commands as velocity commands.
This class is designed to provide a keyboard controller for mobile base (such as quadrupeds).
It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot's
task-space commands.
The command comprises of the base linear and angular velocity: :math:`(v_x, v_y, \omega_z)`.
Key bindings:
====================== ========================= ========================
Command Key (+ve axis) Key (-ve axis)
====================== ========================= ========================
Move along x-axis Numpad 8 / Arrow Up Numpad 2 / Arrow Down
Move along y-axis Numpad 4 / Arrow Right Numpad 6 / Arrow Left
Rotate along z-axis Numpad 7 / Z Numpad 9 / X
====================== ========================= ========================
.. seealso::
The official documentation for the keyboard interface: `Carb Keyboard Interface <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__.
"""
[文档] def __init__(self, v_x_sensitivity: float = 0.8, v_y_sensitivity: float = 0.4, omega_z_sensitivity: float = 1.0):
"""Initialize the keyboard layer.
Args:
v_x_sensitivity: Magnitude of linear velocity along x-direction scaling. Defaults to 0.8.
v_y_sensitivity: Magnitude of linear velocity along y-direction scaling. Defaults to 0.4.
omega_z_sensitivity: Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.
"""
# store inputs
self.v_x_sensitivity = v_x_sensitivity
self.v_y_sensitivity = v_y_sensitivity
self.omega_z_sensitivity = omega_z_sensitivity
# acquire omniverse interfaces
self._appwindow = omni.appwindow.get_default_app_window()
self._input = carb.input.acquire_input_interface()
self._keyboard = self._appwindow.get_keyboard()
# note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called
self._keyboard_sub = self._input.subscribe_to_keyboard_events(
self._keyboard,
lambda event, *args, obj=weakref.proxy(self): obj._on_keyboard_event(event, *args),
)
# bindings for keyboard to command
self._create_key_bindings()
# command buffers
self._base_command = np.zeros(3)
# dictionary for additional callbacks
self._additional_callbacks = dict()
def __del__(self):
"""Release the keyboard interface."""
self._input.unsubscribe_from_keyboard_events(self._keyboard, self._keyboard_sub)
self._keyboard_sub = None
def __str__(self) -> str:
"""Returns: A string containing the information of joystick."""
msg = f"Keyboard Controller for SE(2): {self.__class__.__name__}\n"
msg += f"\tKeyboard name: {self._input.get_keyboard_name(self._keyboard)}\n"
msg += "\t----------------------------------------------\n"
msg += "\tReset all commands: L\n"
msg += "\tMove forward (along x-axis): Numpad 8 / Arrow Up\n"
msg += "\tMove backward (along x-axis): Numpad 2 / Arrow Down\n"
msg += "\tMove right (along y-axis): Numpad 4 / Arrow Right\n"
msg += "\tMove left (along y-axis): Numpad 6 / Arrow Left\n"
msg += "\tYaw positively (along z-axis): Numpad 7 / Z\n"
msg += "\tYaw negatively (along z-axis): Numpad 9 / X"
return msg
"""
Operations
"""
[文档] def reset(self):
# default flags
self._base_command.fill(0.0)
[文档] def add_callback(self, key: str, func: Callable):
"""Add additional functions to bind keyboard.
A list of available keys are present in the
`carb documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__.
Args:
key: The keyboard button to check against.
func: The function to call when key is pressed. The callback function should not
take any arguments.
"""
self._additional_callbacks[key] = func
[文档] def advance(self) -> np.ndarray:
"""Provides the result from keyboard event state.
Returns:
3D array containing the linear (x,y) and angular velocity (z).
"""
return self._base_command
"""
Internal helpers.
"""
def _on_keyboard_event(self, event, *args, **kwargs):
"""Subscriber callback to when kit is updated.
Reference:
https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html
"""
# apply the command when pressed
if event.type == carb.input.KeyboardEventType.KEY_PRESS:
if event.input.name == "L":
self.reset()
elif event.input.name in self._INPUT_KEY_MAPPING:
self._base_command += self._INPUT_KEY_MAPPING[event.input.name]
# remove the command when un-pressed
if event.type == carb.input.KeyboardEventType.KEY_RELEASE:
if event.input.name in self._INPUT_KEY_MAPPING:
self._base_command -= self._INPUT_KEY_MAPPING[event.input.name]
# additional callbacks
if event.type == carb.input.KeyboardEventType.KEY_PRESS:
if event.input.name in self._additional_callbacks:
self._additional_callbacks[event.input.name]()
# since no error, we are fine :)
return True
def _create_key_bindings(self):
"""Creates default key binding."""
self._INPUT_KEY_MAPPING = {
# forward command
"NUMPAD_8": np.asarray([1.0, 0.0, 0.0]) * self.v_x_sensitivity,
"UP": np.asarray([1.0, 0.0, 0.0]) * self.v_x_sensitivity,
# back command
"NUMPAD_2": np.asarray([-1.0, 0.0, 0.0]) * self.v_x_sensitivity,
"DOWN": np.asarray([-1.0, 0.0, 0.0]) * self.v_x_sensitivity,
# right command
"NUMPAD_4": np.asarray([0.0, 1.0, 0.0]) * self.v_y_sensitivity,
"LEFT": np.asarray([0.0, 1.0, 0.0]) * self.v_y_sensitivity,
# left command
"NUMPAD_6": np.asarray([0.0, -1.0, 0.0]) * self.v_y_sensitivity,
"RIGHT": np.asarray([0.0, -1.0, 0.0]) * self.v_y_sensitivity,
# yaw command (positive)
"NUMPAD_7": np.asarray([0.0, 0.0, 1.0]) * self.omega_z_sensitivity,
"Z": np.asarray([0.0, 0.0, 1.0]) * self.omega_z_sensitivity,
# yaw command (negative)
"NUMPAD_9": np.asarray([0.0, 0.0, -1.0]) * self.omega_z_sensitivity,
"X": np.asarray([0.0, 0.0, -1.0]) * self.omega_z_sensitivity,
}
