File size: 4,640 Bytes
5a6766e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 | # I/O Devices
Devices are used to read user input and teleoperate simulated robots in real-time. This is achieved by either using a keyboard, a [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/) or a [DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) joystick, and whose teleoperation capabilities can be demonstrated with the [demo_device_control.py](../demos.html#teleoperation) script. More generally, we support any interface that implements the [Device](../simulation/device) abstract base class. In order to support your own custom device, simply subclass this base class and implement the required methods.
## Keyboard
We support keyboard input through the OpenCV2 window created by the mujoco renderer.
**Keyboard controls**
Note that the rendering window must be active for these commands to work.
| Keys | Command |
| :------------------ | :----------------------------------------- |
| Ctrl+q | reset simulation |
| spacebar | toggle gripper (open/close) |
| up-right-down-left | move horizontally in x-y plane |
| .-; | move vertically |
| o-p | rotate (yaw) |
| y-h | rotate (pitch) |
| e-r | rotate (roll) |
| b | toggle arm/base mode (if applicable) |
| s | switch active arm (if multi-armed robot) |
| = | switch active robot (if multi-robot env) |
| Ctrl+C | quit |
## 3Dconnexion SpaceMouse
We support the use of a [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/) as well.
**3Dconnexion SpaceMouse controls**
| Control | Command |
| :------------------------ | :------------------------------------ |
| Right button | reset simulation |
| Left button (hold) | close gripper |
| Move mouse laterally | move arm horizontally in x-y plane |
| Move mouse vertically | move arm vertically |
| Twist mouse about an axis | rotate arm about a corresponding axis |
| b | toggle arm/base mode (if applicable) |
| s | switch active arm (if multi-armed robot) |
| = | switch active robot (if multi-robot environment) |
| Ctrl+C (keyboard) | quit |
## Sony DualSense
we support the use of a [Sony DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) as well.
**Sony DualSense controls**
| Control | Command |
| :--------------------------- | :------------------------------------ |
| Square button | reset simulation |
| Circle button (hold) | close gripper |
| Move LX/LY Stick | move arm horizontally in x-y plane |
| Press L2 Trigger with or without L1 button | move arm vertically |
| Move RX/RY Stick | rotate arm about x/y axis (roll/pitch) |
| Press R2 Trigger with or without R1 button | rotate arm about z axis (yaw) |
| Triangle button | toggle arm/base mode (if applicable) |
| Left/Right Direction Pad | switch active arm (if multi-armed robot) |
| Up/Down Direction Pad | switch active robot (if multi-robot environment) |
| Ctrl+C (keyboard) | quit |
## Mujoco GUI Device
To use the Mujoco GUI device for teleoperation, follow these steps:
1. Set renderer as `"mjviewer"`. For example:
```python
env = suite.make(
**options,
renderer="mjviewer",
has_renderer=True,
has_offscreen_renderer=False,
ignore_done=True,
use_camera_obs=False,
)
```
Note: if using Mac, please use `mjpython` instead of `python`. For example:
```mjpython robosuite/scripts/collect_human_demonstrations.py --environment Lift --robots Panda --device mjgui --camera frontview --controller WHOLE_BODY_IK```
2. Double click on a mocap body to select a body to drag, then:
On Linux: `Ctrl` + right click to drag the body's position. `Ctrl` + left click to control the body's orientation.
On Mac: `fn` + `Ctrl` + right click.
|