Device

Device#

Devices allow for direct real-time interfacing with the MuJoCo simulation. The currently supported devices are Keyboard. SpaceMouse. DualSense and MjGUI.

Base Device#

class robosuite.devices.device.Device(*args: Any, **kwargs: Any)#

abstract start_control()#: Method that should be called externally before controller can start receiving commands.

abstract get_controller_state() → Dict#: Returns the current state of the device, a dictionary of pos, orn, grasp, and reset.

Keyboard Device#

class robosuite.devices.keyboard.Keyboard(*args: Any, **kwargs: Any)#

get_controller_state()#

on_press()#

on_release()#

_display_controls()#

SpaceMouse Device#

class robosuite.devices.spacemouse.SpaceMouse(*args: Any, **kwargs: Any)#

get_controller_state()#

run()#

control()#

control_gripper()#

_display_controls()#

DualSense Device#

class robosuite.devices.dualsense.DualSense(*args: Any, **kwargs: Any)#

get_controller_state()#

Grabs the current state of the 3D mouse.

Returns:: A dictionary containing dpos, orn, unmodified orn, grasp, and reset
Return type:: dict

run()#: Listener method that keeps pulling new messages.

control()#

Grabs current pose of DualSense

Returns:: 6-DoF control value
Return type:: np.array

control_gripper()#

Maps internal states into gripper commands.

Returns:: Whether we’re using single click and hold or not
Return type:: float

static _display_controls()#: Method to pretty print controls.

_check_connection_type()#

Get the connection type of the DualSense controller. ConnectionType: - USB: DualSense connected via USB - BT01: DualSense connected via Bluetooth, sends input report id 0x01 - BT31: DualSense connected via Bluetooth, sends input report id 0x31 - UNKNOWN: Unknown connection type

Returns:: connection type(USB, BT01, BT31, UNKNOWN)
Return type:: ConnectionType

MjGUI Device#

class robosuite.devices.mjgui.MJGUI(*args: Any, **kwargs: Any)#

get_controller_state()#: Grabs the current state of the keyboard. :returns: A dictionary containing dpos, orn, unmodified orn, grasp, and reset :rtype: dict

input2action() → Dict[str, ndarray]#: Uses mocap body poses to determine action for robot. Obtain input_type (i.e. absolute actions or delta actions) and input_ref_frame (i.e. world frame, base frame or eef frame) from the controller itself.

static _display_controls()#: Method to pretty print controls.