From c126b4c45f847ed7fe0676e2d84e2367a4f602e3 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Wed, 6 Sep 2023 05:29:40 -0700 Subject: [PATCH] Add mapping/grasping services to keyboard menu --- stretch_core/nodes/keyboard_teleop | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/stretch_core/nodes/keyboard_teleop b/stretch_core/nodes/keyboard_teleop index 453f6a2..cf6f618 100755 --- a/stretch_core/nodes/keyboard_teleop +++ b/stretch_core/nodes/keyboard_teleop @@ -98,6 +98,21 @@ class GetKeyboardCommands: print(' ') print(' step size: b BIG, m MEDIUM, s SMALL ') print(' ') + if self.mapping_on: + print(' ') + print(' = GLOBAL LOCALIZATION ') + print(' - LOCAL LOCALIZATION ') + print(' \ EXPLORE ') + print(' HEAD SCAN ') + print(' [ ALIGN CLIFF ') + print(' ] REACH UNTIL CONTACT ') + print(' ; LOWER UNTIL CONTACT ') + print(' ! HEAD SCAN + EXPLORE (x4) ') + print(' ') + if self.grasp_object_on: + print(' ') + print(' \' GRASP OBJECT ') + print(' ') print(' q QUIT ') print(' ') print('-------------------------------------------')