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.