irsim.gui.keyboard_control#
Classes#
Initialize keyboard control for the environment. |
Module Contents#
- class irsim.gui.keyboard_control.KeyboardControl(env_ref: Any | None = None, **keyboard_kwargs: Any)#
Initialize keyboard control for the environment.
- Parameters:
env_ref – Reference to the environment instance to access reset functionality
keyboard_kwargs (dict) –
Dictionary of keyword arguments for keyboard control settings
vel_max (list): Maximum velocities [linear, angular]. Default is [3.0, 1.0].
key_lv_max (float): Maximum linear velocity. Default is vel_max [0].
key_ang_max (float): Maximum angular velocity. Default is vel_max [1].
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.
Keys –
w: Move forward.
s: Move backward.
a: Turn left.
d: Turn right.
q: Decrease linear velocity.
e: Increase linear velocity.
z: Decrease angular velocity.
c: Increase angular velocity.
alt + num: Change the current control robot id.
r: Reset the environment.
space: pause/resume the environment.
- env_ref = None#
- key_lv_max#
- key_ang_max#
- key_lv#
- key_ang#
- key_id#
- alt_flag = 0#
- key_vel#
- listener#