def mouseThreadFunction(self, shared_event, running):
try:
# open the connection
print("Opening connection to SpaceNav driver ...")
spacenav.open()
print("... connection established.")
# register the close function if no exception was raised
atexit.register(spacenav.close)
except spacenav.ConnectionError:
# give some user advice if the connection failed
print(
"No connection to the SpaceNav driver. Is spacenavd running?")
sys.exit(-1)
# loop over space navigator events
scaling_value = 1.0
while running.value:
# wait for next event
event = spacenav.wait()
if type(event) is spacenav.ButtonEvent and event.pressed == 0:
print("button pressed {}".format(event.button))
if event.button == 1:
scaling_value = scaling_value + 0.1
if scaling_value > 2:
scaling_value = 2
print("scaling up by .1: {}".format(scaling_value))
elif event.button == 0:
scaling_value = scaling_value - 0.1
if scaling_value < 0.1:
scaling_value = 0.1
print("scaling down by .1: {}".format(scaling_value))
elif type(event) is spacenav.MotionEvent:
#Update shared memory with mouse information
shared_event[0] = int(event.x * scaling_value)
shared_event[1] = int(event.y * scaling_value)
shared_event[2] = int(event.z * scaling_value)
shared_event[3] = int(event.rx * scaling_value)
shared_event[4] = int(event.ry * scaling_value)
shared_event[5] = int(event.rz * scaling_value)
solo = robots_loader.loadSolo()
solo.initDisplay(loadModel=True)
q = solo.q0
solo.display(q)
### Spacemouse configuration
import spacenav as sp
import atexit
try:
# open the connection
print("Opening connection to SpaceNav driver ...")
sp.open()
print("... connection established.")
# register the close function if no exception was raised
atexit.register(sp.close)
except sp.ConnectionError:
# give some user advice if the connection failed
print("No connection to the SpaceNav driver. Is spacenavd running?")
sys.exit(-1)
# reset exit condition
stop = False
dt = 1e-3 # Integration step
t = 0 # Starting time of the simulation
# Convergence gain
import spacenav, atexit
try:
# open the connection
print("Opening connection to SpaceNav driver ...")
spacenav.open()
print("... connection established.")
# register the close function if no exception was raised
atexit.register(spacenav.close)
except spacenav.ConnectionError:
# give some user advice if the connection failed
print("No connection to the SpaceNav driver. Is spacenavd running?")
sys.exit(-1)
# reset exit condition
stop = False
# loop over space navigator events
while not stop:
# wait for next event
event = spacenav.wait()
# if event signals the release of the first button
if type(event) is spacenav.ButtonEvent \
and event.button == 0 and event.pressed == 0:
# set exit condition
stop = True
# print event
print(str(event))
import spacenav, atexit
try:
# open the connection
print("Opening connection to SpaceNav driver ...")
spacenav.open()
print("... connection established.")
# register the close function if no exception was raised
atexit.register(spacenav.close)
except spacenav.ConnectionError:
# give some user advice if the connection failed
print("No connection to the SpaceNav driver. Is spacenavd running?")
sys.exit(-1)
# reset exit condition
stop = False
# loop over space navigator events
while not stop:
# wait for next event
event = spacenav.wait()
# if event signals the release of the first button
if type(event) is spacenav.ButtonEvent \
and event.button == 0 and event.pressed == 0:
# set exit condition
stop = True
# print event
print(str(event))