irsim.gui.keyboard_control#

Attributes#

keyboard

keyboard

Classes#

KeyboardControl

Keyboard input handler for IR-SIM with dual backends.

Module Contents#

irsim.gui.keyboard_control.keyboard: Any | None = None#
irsim.gui.keyboard_control.keyboard#
class irsim.gui.keyboard_control.KeyboardControl(env_ref: Any | None = None, **keyboard_kwargs: Any)[source]#

Keyboard input handler for IR-SIM with dual backends.

Overview:

  • Provides manual control of robots and environment using keyboard keys.

  • Supports two backends:

    • “mpl” (default): Matplotlib figure key events (no extra dependency).

    • “pynput”: Global keyboard hook (requires the pynput package).

  • If the requested backend is unavailable, it automatically falls back to “mpl”.

Control mode gating:

  • Robot control keys (w/s/a/d, q/e, z/c, alt+number) only take effect when world_param.control_mode == "keyboard".

  • Environment keys (space to pause/resume, r to reset, esc to quit) are always active.

Key mappings (both backends):

  • w/s: Increase/decrease linear velocity (forward/backward)

  • a/d: Increase/decrease angular velocity (turn left/right)

  • q/e: Decrease/increase maximum linear velocity (key_lv_max)

  • z/c: Decrease/increase maximum angular velocity (key_ang_max)

  • alt + number: Change current controlled robot id

  • r: Reset the environment (if env_ref provided)

  • space: Toggle pause/resume

  • esc: Quit the environment immediately (closes figure and raises SystemExit(0))

  • x: Switch between keyboard and auto control modes

  • l: Reload the environment

  • F5: Debug the environment

  • y: Toggle display render window

Notes

  • The “mpl” backend requires the Matplotlib figure window to have focus to receive key events.

  • In keyboard control mode, behavior planners are ignored; robot motion follows key input.

Initialize keyboard control for the environment.

Parameters:

  • env_ref – Reference to the environment instance. Used for pause/resume and reset.

  • keyboard_kwargs (dict) –

    Optional settings for keyboard control.

    • key_lv_max (float): Maximum linear velocity. Default is 3.0.

    • key_ang_max (float): Maximum angular velocity. Default is 1.0.

    • key_lv (float): Initial linear velocity. Default is 0.0.

    • key_ang (float): Initial angular velocity. Default is 0.0.

    • key_id (int): Initial robot control ID. Default is 0.

    • backend (str): Keyboard backend. "mpl" (default) uses Matplotlib figure key events; "pynput" uses a global keyboard hook if the pynput package is available.

Keyboard mappings (both backends):

  • w: Move forward

  • s: Move backward

  • a: Turn left

  • d: Turn right

  • q/e: Decrease/Increase linear velocity

  • z/c: Decrease/Increase angular velocity

  • alt + number: Change current control robot id

  • r: Reset the environment (if env_ref provided)

  • space: Pause/Resume the environment

  • esc: Quit the environment

  • x: Switch between keyboard and auto control modes

  • l: Reload the environment

  • F5: Debug the environment

  • y: Toggle display render window

env_ref = None#
key_lv_max#
key_ang_max#
key_lv#
key_ang#
key_id#
alt_flag = 0#
backend#
key_vel#
property logger: Any#

Get the environment logger.

Returns:

The logger instance for the environment.

Return type:

EnvLogger