Device

Device#

Devices allow for direct real-time interfacing with the MuJoCo simulation. The currently supported devices are Keyboard. SpaceMouse 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()#

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.