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unilab.visualization.interactive_playback.KeyboardCommander

class unilab.visualization.interactive_playback.KeyboardCommander

Bases: object

Mutable [vx, vy, vyaw] velocity command driven by keyboard nudges.

Per-axis nudges stack and are clamped to the task’s commands.vel_limit.

Parameters:

• low (ndarray)

• high (ndarray)

• step_lin (float)

• step_ang (float)

Methods

__init__(low, high[, step_lin, step_ang])
describe()
from_vel_limit(vel_limit, *[, step_lin, ...])
nudge(axis, sign)
zero()

Attributes

AXIS_VX
AXIS_VY
AXIS_VYAW
step_ang
step_lin
low
high
command

low: ndarray

high: ndarray

step_lin: float = 0.1

step_ang: float = 0.2

command: ndarray

AXIS_VX: ClassVar[int] = 0

AXIS_VY: ClassVar[int] = 1

AXIS_VYAW: ClassVar[int] = 2

classmethod from_vel_limit(vel_limit, *, step_lin=0.1, step_ang=0.2)

Parameters:

• vel_limit (Any)

• step_lin (float)

• step_ang (float)

Return type:

KeyboardCommander

nudge(axis, sign)

Parameters:

• axis (int)

• sign (float)

Return type:

None

zero()

Return type:

None

describe()

Return type:

str

__init__(low, high, step_lin=0.1, step_ang=0.2)

Parameters:

• low (ndarray)

• high (ndarray)

• step_lin (float)

• step_ang (float)