
    *i                     2    d Z ddlmZ  G d de          ZdS )z,SpaceMouse Cartesian velocity teleoperation.    )TeleopInterfacec                       e Zd ZdZ	 	 	 	 	 ddeded	ed
edef
dZedefd            Z	ddZ
ddZddZedefd            ZdS )SpaceMouseInterfacez+EE velocity control via SpaceMouse puck(s)./dev/hidraw4/dev/hidraw5Q?皙?Fpath_rpath_l	vel_scale	rot_scaleinvert_rotationc                 L    || _         || _        || _        || _        || _        d S N)_path_r_path_l
_vel_scale
_rot_scale_invert_rotation)selfr
   r   r   r   r   s         7/home/robot-lab/raiden_cmu/raiden/control/spacemouse.py__init__zSpaceMouseInterface.__init__	   s.     ## /    returnc                     dS )N
spacemouse r   s    r   namezSpaceMouseInterface.name   s    |r   Nc                 n    |                                  |                    | j        | j                   d S r   )warmup_spacemouse_ikattach_spacemicer   r   r   robot_controllers     r   setupzSpaceMouseInterface.setup   s4    --///))$,EEEEEr   c                 T    |                     | j        | j        | j                   d S )N)r   r   r   )start_spacemouse_teleopr   r   r   r#   s     r   startzSpaceMouseInterface.start#   s9    00oo 1 	1 	
 	
 	
 	
 	
r   c                 .    |                                  d S r   )stop_spacemouse_teleopr#   s     r   stopzSpaceMouseInterface.stop*   s    //11111r   c                     	 dS )Na*  
============================================================
  SPACEMOUSE TELEOPERATION ACTIVE
============================================================

  Push/pull/tilt puck to move EE, rock/twist to rotate
  Press Ctrl+C to stop

============================================================
r   r   s    r   bannerzSpaceMouseInterface.banner-   s    ;	
 	
r   )r   r   r   r	   F)r   N)__name__
__module____qualname____doc__strfloatboolr   propertyr   r%   r(   r+   r-   r   r   r   r   r      s       55 %$ %0 00 0 	0
 0 0 0 0 0 c    XF F F F
 
 
 
2 2 2 2 
 
 
 
 X
 
 
r   r   N)r1   raiden.control.baser   r   r   r   r   <module>r7      sQ    2 2 / / / / / /.
 .
 .
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r   