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.

A minimalistic driver class for a Keyboard. :param pos_sensitivity: Magnitude of input position command scaling :type pos_sensitivity: float :param rot_sensitivity: Magnitude of scale input rotation commands scaling :type rot_sensitivity: float

get_controller_state()#

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

on_press(key)#

Key handler for key presses. :param key: key that was pressed :type key: str

on_release(key)#

Key handler for key releases. :param key: key that was pressed :type key: str

static _display_controls()#

Method to pretty print controls.

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.