robosuite.devices package

robosuite.devices package#

Submodules#

robosuite.devices.device module#

class robosuite.devices.device.Device(env)#

Bases: object

Base class for all robot controllers. Defines basic interface for all controllers to adhere to. Also contains shared logic for managing multiple and/or multiarmed robots.

property active_arm#
property active_arm_index#
property base_mode#
get_arm_action(robot, arm, norm_delta, goal_update_mode='target')#
abstract get_controller_state() → Dict#

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

get_torso_action(robot, device_input)#

Generate torso action from device input

property grasp#
input2action(mirror_actions=False, goal_update_mode='target') → Dict | None#

Converts an input from an active device into a valid action sequence that can be fed into an env.step() call

If a reset is triggered from the device, immediately returns None. Else, returns the appropriate action

Parameters:

  • mirror_actions (bool) – actions corresponding to viewing robot from behind. first axis: left/right. second axis: back/forward. third axis: down/up.

  • goal_update_mode (str) – the mode to update the goal in. Can be ‘target’ or ‘achieved’.

  • 'target' (If)

  • 'achieved' (the goal is updated based on the current target goal. If)

  • state. (the goal is updated based on the current achieved)

Returns:

Dictionary of actions to be fed into env.step()

if reset is triggered, returns None

Return type:

Optional[Dict]

abstract start_control()#

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

robosuite.devices.dualsense module#

Driver class for DualSense controller.

This class provides a driver support to DualSense on macOS. In particular, we assume you are using a DualSense Wireless by default.

class robosuite.devices.dualsense.ConnectionType(value)#

Bases: IntFlag

An enumeration.

BT01 = 2#
BT31 = 4#
UNKNOWN = 8#
USB = 1#
classmethod to_string(value) → str#
class robosuite.devices.dualsense.DSState#

Bases: object

setDPadState(dpad_state: int) → None#

Sets the dpad state variables according to the integers that was read from the controller

Parameters:

dpad_state (int) – integer number representing the dpad state, actually a 4-bit number,[0,8]

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

Bases: Device

A minimalistic driver class for DualSense with HID library.

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

You can test your DualSense in https://hardwaretester.com/gamepad and https://nondebug.github.io/dualsense/dualsense-explorer.html DualSense HID protocol refer to nondebug/dualsense

Parameters:

  • env (RobotEnv) – The environment which contains the robot(s) to control using this device.

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

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

  • reverse_xy (bool) – Whether to reverse the effect of the x and y axes of the joystick. It is used to handle the case that the left/right and front/back sides of the view are opposite to the LX and LY of the joystick(Push LX up but the robot move left in your view)

property control#

Grabs current pose of DualSense

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

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.

start_control()#

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

robosuite.devices.dualsense.parse_bt01_report(state_bytes: bytearray) → DSState#
robosuite.devices.dualsense.parse_bt31_report(state_bytes: bytearray) → DSState#
robosuite.devices.dualsense.parse_usb_report(state_bytes: bytearray) → DSState#
robosuite.devices.dualsense.scale_to_control(x, axis_scale=128, min_v=-1.0, max_v=1.0)#

Normalize raw HID readings to target range.

Parameters:

  • x (int) – Raw reading from HID

  • axis_scale (float) – (Inverted) scaling factor for mapping raw input value

  • min_v (float) – Minimum limit after scaling

  • max_v (float) – Maximum limit after scaling

Returns:

Clipped, scaled input from HID

Return type:

float

robosuite.devices.keyboard module#

robosuite.devices.mjgui module#

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

Bases: Device

Class for ‘device’ involving mujoco viewer and mocap bodies being dragged by user’s mouse.

Parameters:

env (RobotEnv) – The environment which contains the robot(s) to control using this device.

get_controller_state()#

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

input2action(goal_update_mode='desired') → 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.

start_control()#

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

robosuite.devices.mjgui.get_mocap_pose(sim, mocap_name: str = 'target') → Tuple[ndarray, ndarray]#
robosuite.devices.mjgui.set_mocap_pose(sim, target_pos: ndarray | None = None, target_mat: ndarray | None = None, mocap_name: str = 'target')#

robosuite.devices.spacemouse module#

Module contents#

Contents