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Keyboard Control for Object Control GUI #181

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Keyboard Control for Object Control GUI #181

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9920278
Keyboard Control
Jun 27, 2022
e900ea3
fix scale
Jun 27, 2022
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73 changes: 72 additions & 1 deletion ambf_ros_modules/examples/object_control_example/control_object.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -85,10 +85,13 @@ def __init__(self, obj_name, client_name, c_space_ctrl, j_space_ctrl, initial_xy
self.jnt_gui = JointGUI(obj_name, self._n_jnts, jnt_names)

def run(self):
counter = 0
while not rospy.is_shutdown():

counter += 1
if self._ctrl_c_space is True:
self.obj_gui.App.update()
self.process_keyboard_input_c_space(counter)

px = self.obj_gui.px * self.obj_gui.get_px_scale()
py = self.obj_gui.py * self.obj_gui.get_py_scale()
pz = self.obj_gui.pz * self.obj_gui.get_pz_scale()
Expand All @@ -112,6 +115,7 @@ def run(self):

if self._ctrl_j_space is True:
self.jnt_gui.App.update()
self.process_keyboard_input_j_space(counter)
for i in range(self._n_jnts):
try:
cmd_scale = float(self.jnt_gui.cmd_scales[i].get())
Expand All @@ -130,6 +134,73 @@ def run(self):

time.sleep(0.001)

def process_keyboard_input_c_space(self, counter):
step_size = self.obj_gui.resolution

if (counter % 10 == 0 and 'Slow' in self.obj_gui.key_stack) or ('Slow' not in self.obj_gui.key_stack):

####### Cartesian Coordiantes #######

#x-Axis
if 'Forth' in self.obj_gui.key_stack:
self.obj_gui.px_slider.set(self.obj_gui.px - step_size)
if 'Back' in self.obj_gui.key_stack:
self.obj_gui.px_slider.set(self.obj_gui.px + step_size)

#y-Axis
if 'Right' in self.obj_gui.key_stack:
self.obj_gui.py_slider.set(self.obj_gui.py + step_size)
if 'Left' in self.obj_gui.key_stack:
self.obj_gui.py_slider.set(self.obj_gui.py - step_size)

#z-Axis
if 'Up' in self.obj_gui.key_stack:
self.obj_gui.pz_slider.set(self.obj_gui.pz + step_size)
if 'Down' in self.obj_gui.key_stack:
self.obj_gui.pz_slider.set(self.obj_gui.pz - step_size)

####### Roll-Pitch-Yaw #######

#x-Axis
if 'Roll+' in self.obj_gui.key_stack:
self.obj_gui.rx_slider.set(self.obj_gui.rx + step_size)
if 'Roll-' in self.obj_gui.key_stack:
self.obj_gui.rx_slider.set(self.obj_gui.rx - step_size)

#y-Axis
if 'Pitch+' in self.obj_gui.key_stack:
self.obj_gui.ry_slider.set(self.obj_gui.ry + step_size)
if 'Pitch-' in self.obj_gui.key_stack:
self.obj_gui.ry_slider.set(self.obj_gui.ry - step_size)

#z-Axis
if 'Yaw+' in self.obj_gui.key_stack:
self.obj_gui.rz_slider.set(self.obj_gui.rz + step_size)
if 'Yaw-' in self.obj_gui.key_stack:
self.obj_gui.rz_slider.set(self.obj_gui.rz - step_size)


def process_keyboard_input_j_space(self, counter):
step_size = self.jnt_gui.resolution * 20
try:
if (counter % 10 == 0 and 'Slow' in self.jnt_gui.key_stack) or ('Slow' not in self.jnt_gui.key_stack):
if 'Joint1Open' in self.jnt_gui.key_stack:
self.jnt_gui._cmd_sliders[0].set(self.jnt_gui._cmd_sliders[0].get() + step_size)
if 'Joint1Close' in self.jnt_gui.key_stack:
self.jnt_gui._cmd_sliders[0].set(self.jnt_gui._cmd_sliders[0].get() - step_size)
if 'Joint2Open' in self.jnt_gui.key_stack:
self.jnt_gui._cmd_sliders[1].set(self.jnt_gui._cmd_sliders[1].get() - step_size)
if 'Joint2Close' in self.jnt_gui.key_stack:
self.jnt_gui._cmd_sliders[1].set(self.jnt_gui._cmd_sliders[1].get() + step_size)
if 'GrabberClose' in self.jnt_gui.key_stack:
self.jnt_gui._cmd_sliders[0].set(self.jnt_gui._cmd_sliders[0].get() - step_size)
self.jnt_gui._cmd_sliders[1].set(self.jnt_gui._cmd_sliders[1].get() + step_size)
if 'GrabberOpen' in self.jnt_gui.key_stack:
self.jnt_gui._cmd_sliders[0].set(self.jnt_gui._cmd_sliders[0].get() + step_size)
self.jnt_gui._cmd_sliders[1].set(self.jnt_gui._cmd_sliders[1].get() - step_size)
except Exception:
print("Could not handle input")


def main():
# Begin Argument Parser Code
Expand Down
35 changes: 35 additions & 0 deletions ambf_ros_modules/examples/object_control_example/jnt_control_gui.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ def __init__(self, obj_name, num_jnts, jnt_names):
self.jnt_cmds = []
self.jnt_mode = []
self.cmd_scales = []
self.resolution = None

self._cmd_sliders = []

Expand Down Expand Up @@ -104,6 +105,7 @@ def create_gui(self, app, obj_name, num_jnts, jnt_names):
self.jnt_cmds = [0.0] * num_jnts
self.jnt_mode = [0]*num_jnts
self.cmd_scales = [0]*num_jnts
self.resolution = _resolution

# obj_label = Label(app, text='CONTROLLING OBJECT: ' + obj_name, fg="Red")
# obj_label.pack(row=0, columnspan=2, pady=5)
Expand Down Expand Up @@ -147,3 +149,36 @@ def create_gui(self, app, obj_name, num_jnts, jnt_names):

reset_cmd_btn = Button(app, text='Reset Cmds', command=self.reset_cmds_cb)
reset_cmd_btn.grid(row=num_jnts*2, column=1)
self.init_keyboard_control(app)

def init_keyboard_control(self, app):
self.key_stack = []
inputs = [('y', 'Joint1Open'),
('Y', 'Joint1Open'),
('x', 'Joint1Close'),
('X', 'Joint1Close'),
('v', 'Joint2Open'),
('V', 'Joint2Open'),
('c', 'Joint2Close'),
('C', 'Joint2Close'),
('q', 'GrabberClose'),
('Q', 'GrabberClose'),
('e', 'GrabberOpen'),
('E', 'GrabberOpen'),
('Shift_L', 'Slow')]

for key, direction in inputs:
app.bind('<KeyPress-' + key + '>', functools.partial(key_down, self, direction))
app.bind('<KeyRelease-' + key + '>', functools.partial(key_up, self, direction))

app.bind('<FocusOut>', self.on_focus_out)

def on_focus_out(self, event):
self.key_stack = []


def key_down(app, direction, event):
app.key_stack.append(direction)

def key_up(app, direction, event):
app.key_stack.remove(direction)
64 changes: 55 additions & 9 deletions ambf_ros_modules/examples/object_control_example/obj_control_gui.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,8 @@ def __init__(self, obj_name, initial_xyz, initial_rpy, range_xyz, range_rpy, res
self.ry_scale = None
self.rz_scale = None

self.step_size_scale = 1.0

self.cartesian_mode = 0
self.create_gui(self.App, obj_name)

Expand Down Expand Up @@ -299,13 +301,13 @@ def create_gui(self, app, obj_name):

row_count = row_count + 1

zero_xyz = Button(app, width=_width, command=self.zero_p_cb)
zero_xyz = Button(app, width=_width, command=self.zero_p_cb, text="Reset Position")
zero_xyz.grid(row=row_count, column=1)

row_count = row_count + 1

zero_xyz_label = Label(app, text="Reset Position")
zero_xyz_label.grid(row=row_count, column=1)
# zero_xyz_label = Label(app, text="Reset Position")
# zero_xyz_label.grid(row=row_count, column=1)

row_count = row_count + 1

Expand Down Expand Up @@ -378,20 +380,64 @@ def create_gui(self, app, obj_name):

row_count = row_count + 1

zero_rpy = Button(app, width=_width, command=self.zero_r_cb)
zero_rpy = Button(app, width=_width, command=self.zero_r_cb, text="Reset Rotation")
zero_rpy.grid(row=row_count, column=1)

row_count = row_count + 1

zero_rpy_label = Label(app, text="Reset Rotation")
zero_rpy_label.grid(row=row_count, column=1)
# zero_rpy_label = Label(app, text="Reset Rotation")
# zero_rpy_label.grid(row=row_count, column=1)

row_count = row_count + 1

zero_all = Button(app, width=_width, command=self.zero_all_cb)
zero_all = Button(app, width=_width, command=self.zero_all_cb, text="Reset All")
zero_all.grid(row=row_count, column=1)

row_count = row_count + 1

zero_all_label = Label(app, text="Reset All")
zero_all_label.grid(row=row_count, column=1)
# zero_all_label = Label(app, text="Reset All")
# zero_all_label.grid(row=row_count, column=1)
self.init_keyboard_control(app)

def init_keyboard_control(self, app):
self.key_stack = []
inputs = [('w', 'Forth'),
('W', 'Forth'),
('a', 'Left'),
('A', 'Left'),
('s', 'Back'),
('S', 'Back'),
('d', 'Right'),
('D', 'Right'),
('Up', 'Up'),
('Down', 'Down'),
('Shift_L', 'Slow'),
('t', 'Roll+'),
('T', 'Roll+'),
('g', 'Roll-'),
('G', 'Roll-'),
('f', 'Pitch+'),
('F', 'Pitch+'),
('h', 'Pitch-'),
('H', 'Pitch-'),
('Left', 'Yaw+'),
('Right', 'Yaw-')]

for key, direction in inputs:
app.bind('<KeyPress-' + key + '>', functools.partial(key_down, self, direction))
app.bind('<KeyRelease-' + key + '>', functools.partial(key_up, self, direction))

app.bind('<FocusOut>', self.on_focus_out)

def on_focus_out(self, event):
self.key_stack = []


def key_down(app, direction, event):
app.key_stack.append(direction)

def key_up(app, direction, event):
app.key_stack.remove(direction)