[software] 添加16DOF早期训练仿真与Sim2Real闭环

05_software/train/rc_mjlab/sim2sim/input_dev/keyboard.py

@@ -0,0 +1,59 @@
+from pynput import keyboard
+
+class KeyboardCommandController:
+    """Provides smoothed velocity commands via keyboard input."""
+    def __init__(self, max_x_vel=2.0, max_yaw_vel=2.0, acc_step=0.05, dec_step=0.1):
+        self.current_cmd = [0.0, 0.0, 0.0]
+        self.max_x_vel = max_x_vel
+        self.max_yaw_vel = max_yaw_vel
+        self.acc_step = acc_step
+        self.dec_step = dec_step
+        self.pressed_keys = set()
+        
+        self.listener = keyboard.Listener(
+            on_press=self.on_press,
+            on_release=self.on_release
+        )
+
+    def start(self):
+        self.listener.start()
+        print("[InputDev] Keyboard control active: UP(fwd) DOWN(bwd) LEFT(yawL) RIGHT(yawR)")
+
+    def stop(self):
+        self.listener.stop()
+
+    def on_press(self, key):
+        self.pressed_keys.add(key)
+
+    def on_release(self, key):
+        if key in self.pressed_keys:
+            self.pressed_keys.remove(key)
+
+    def get_command(self):
+        target_vx = 0.0
+        target_dyaw = 0.0
+        
+        if keyboard.Key.up in self.pressed_keys:
+            target_vx += self.max_x_vel
+        if keyboard.Key.down in self.pressed_keys:
+            target_vx -= self.max_x_vel
+        if keyboard.Key.left in self.pressed_keys:
+            target_dyaw += self.max_yaw_vel
+        if keyboard.Key.right in self.pressed_keys:
+            target_dyaw -= self.max_yaw_vel
+
+        # Smooth X velocity
+        step_x = self.acc_step if target_vx != 0 else self.dec_step
+        if self.current_cmd[0] < target_vx:
+            self.current_cmd[0] = min(self.current_cmd[0] + step_x, target_vx)
+        elif self.current_cmd[0] > target_vx:
+            self.current_cmd[0] = max(self.current_cmd[0] - step_x, target_vx)
+
+        # Smooth Yaw velocity
+        step_yaw = self.acc_step * 2.0 if target_dyaw != 0 else self.dec_step * 2.0
+        if self.current_cmd[2] < target_dyaw:
+            self.current_cmd[2] = min(self.current_cmd[2] + step_yaw, target_dyaw)
+        elif self.current_cmd[2] > target_dyaw:
+            self.current_cmd[2] = max(self.current_cmd[2] - step_yaw, target_dyaw)
+
+        return self.current_cmd.copy()