Device

Devices allow for direct real-time interfacing with the MuJoCo simulation. The current support devices are Keyboard and Spacemouse.

Base Device

class robosuite.devices.device.Device

Base class for all robot controllers. Defines basic interface for all controllers to adhere to.

abstract start_control()

Method that should be called externally before controller can start receiving commands.

abstract get_controller_state()

Returns the current state of the device, a dictionary of pos, orn, grasp, and reset.

Keyboard Device

class robosuite.devices.keyboard.Keyboard(pos_sensitivity=1.0, rot_sensitivity=1.0)

A minimalistic driver class for a Keyboard.

Parameters
  • pos_sensitivity (float) – Magnitude of input position command scaling

  • rot_sensitivity (float) – Magnitude of scale input rotation commands scaling

get_controller_state()

Grabs the current state of the keyboard.

Returns

A dictionary containing dpos, orn, unmodified orn, grasp, and reset

Return type

dict

on_press(window, key, scancode, action, mods)

Key handler for key presses.

Parameters
  • window – [NOT USED]

  • key (int) – keycode corresponding to the key that was pressed

  • scancode – [NOT USED]

  • action – [NOT USED]

  • mods – [NOT USED]

on_release(window, key, scancode, action, mods)

Key handler for key releases.

Parameters
  • window – [NOT USED]

  • key (int) – keycode corresponding to the key that was pressed

  • scancode – [NOT USED]

  • action – [NOT USED]

  • mods – [NOT USED]

static _display_controls()

Method to pretty print controls.

Spacemouse Device

class robosuite.devices.spacemouse.SpaceMouse(vendor_id=9583, product_id=50735, pos_sensitivity=1.0, rot_sensitivity=1.0)

A minimalistic driver class for SpaceMouse with HID library.

Note: Use hid.enumerate() to view all USB human interface devices (HID). Make sure SpaceMouse is detected before running the script. You can look up its vendor/product id from this method.

Parameters
  • vendor_id (int) – HID device vendor id

  • product_id (int) – HID device product id

  • pos_sensitivity (float) – Magnitude of input position command scaling

  • rot_sensitivity (float) – Magnitude of scale input rotation commands scaling

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.

property control

Grabs current pose of Spacemouse

Returns

6-DoF control value

Return type

np.array

property 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.