orbit.devices

orbit.devices#

Sub-package providing interfaces to different teleoperation devices.

Currently, the following categories of devices are supported:

Keyboard: Standard keyboard with WASD and arrow keys.
Spacemouse: 3D mouse with 6 degrees of freedom.
Gamepad: Gamepad with 2D two joysticks and buttons. Example: Xbox controller.

All device interfaces inherit from the DeviceBase class, which provides a common interface for all devices. The device interface reads the input data when the DeviceBase.advance() method is called. It also provides the function DeviceBase.add_callback() to add user-defined callback functions to be called when a particular input is pressed from the peripheral device.

Classes

`DeviceBase`	An interface class for teleoperation devices.
`Se2Gamepad`	A gamepad controller for sending SE(2) commands as velocity commands.
`Se3Gamepad`	A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close).
`Se2Keyboard`	A keyboard controller for sending SE(2) commands as velocity commands.
`Se3Keyboard`	A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close).
`Se3SpaceMouse`	A space-mouse controller for sending SE(3) commands as delta poses.
`Se3SpaceMouse`	A space-mouse controller for sending SE(3) commands as delta poses.

Device Base#

class omni.isaac.orbit.devices.DeviceBase[source]#

An interface class for teleoperation devices.

Methods:

`__init__`()	Initialize the teleoperation interface.
`reset`()	Reset the internals.
`add_callback`(key, func)	Add additional functions to bind keyboard.
`advance`()	Provides the joystick event state.

__init__()[source]#: Initialize the teleoperation interface.

abstract reset()[source]#: Reset the internals.

abstract add_callback(key: Any, func: Callable)[source]#

Add additional functions to bind keyboard.

Parameters:

key – The button to check against.
func – The function to call when key is pressed. The callback function should not take any arguments.

abstract advance() → Any[source]#

Provides the joystick event state.

Returns:: The processed output form the joystick.

Game Pad#

class omni.isaac.orbit.devices.Se2Gamepad[source]#

Bases: DeviceBase

A gamepad controller for sending SE(2) commands as velocity commands.

This class is designed to provide a gamepad controller for mobile base (such as quadrupeds). It uses the Omniverse gamepad interface to listen to gamepad events and map them to robot’s task-space commands.

The command comprises of the base linear and angular velocity: \((v_x, v_y, \omega_z)\).

Key bindings:

Command	Key (+ve axis)	Key (-ve axis)
Move along x-axis	left stick up	left stick down
Move along y-axis	left stick right	left stick left
Rotate along z-axis	right stick right	right stick left

See also

The official documentation for the gamepad interface: Carb Gamepad Interface.

Methods:

`__init__`([v_x_sensitivity, v_y_sensitivity, ...])	Initialize the gamepad layer.
`reset`()	Reset the internals.
`add_callback`(key, func)	Add additional functions to bind gamepad.
`advance`()	Provides the result from gamepad event state.

__init__(v_x_sensitivity: float = 1.0, v_y_sensitivity: float = 1.0, omega_z_sensitivity: float = 1.0, dead_zone: float = 0.01)[source]#

Initialize the gamepad layer.

Parameters:

v_x_sensitivity – Magnitude of linear velocity along x-direction scaling. Defaults to 1.0.
v_y_sensitivity – Magnitude of linear velocity along y-direction scaling. Defaults to 1.0.
omega_z_sensitivity – Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.
dead_zone – Magnitude of dead zone for gamepad. An event value from the gamepad less than this value will be ignored. Defaults to 0.01.

reset()[source]#: Reset the internals.

add_callback(key: carb.input.GamepadInput, func: Callable)[source]#

Add additional functions to bind gamepad.

A list of available gamepad keys are present in the carb documentation.

Parameters:

key – The gamepad button to check against.
func – The function to call when key is pressed. The callback function should not take any arguments.

advance() → numpy.ndarray[source]#

Provides the result from gamepad event state.

Returns:: A 3D array containing the linear (x,y) and angular velocity (z).

class omni.isaac.orbit.devices.Se3Gamepad[source]#

Bases: DeviceBase

A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close).

This class is designed to provide a gamepad controller for a robotic arm with a gripper. It uses the gamepad interface to listen to gamepad events and map them to the robot’s task-space commands.

The command comprises of two parts:

delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.
gripper: a binary command to open or close the gripper.

Stick and Button bindings:

Description	Stick/Button (+ve axis)	Stick/Button (-ve axis)
Toggle gripper(open/close)	X Button	X Button
Move along x-axis	Left Stick Up	Left Stick Down
Move along y-axis	Left Stick Left	Left Stick Right
Move along z-axis	Right Stick Up	Right Stick Down
Rotate along x-axis	D-Pad Left	D-Pad Right
Rotate along y-axis	D-Pad Down	D-Pad Up
Rotate along z-axis	Right Stick Left	Right Stick Right

See also

The official documentation for the gamepad interface: Carb Gamepad Interface.

Methods:

`__init__`([pos_sensitivity, rot_sensitivity, ...])	Initialize the gamepad layer.
`reset`()	Reset the internals.
`add_callback`(key, func)	Add additional functions to bind gamepad.
`advance`()	Provides the result from gamepad event state.

__init__(pos_sensitivity: float = 1.0, rot_sensitivity: float = 1.6, dead_zone: float = 0.01)[source]#

Initialize the gamepad layer.

Parameters:

pos_sensitivity – Magnitude of input position command scaling. Defaults to 1.0.
rot_sensitivity – Magnitude of scale input rotation commands scaling. Defaults to 1.6.
dead_zone – Magnitude of dead zone for gamepad. An event value from the gamepad less than this value will be ignored. Defaults to 0.01.

reset()[source]#: Reset the internals.

add_callback(key: carb.input.GamepadInput, func: Callable)[source]#

Add additional functions to bind gamepad.

A list of available gamepad keys are present in the carb documentation.

Parameters:

key – The gamepad button to check against.
func – The function to call when key is pressed. The callback function should not take any arguments.

advance() → tuple[numpy.ndarray, bool][source]#

Provides the result from gamepad event state.

Returns:: A tuple containing the delta pose command and gripper commands.

Keyboard#

class omni.isaac.orbit.devices.Se2Keyboard[source]#

Bases: DeviceBase

A keyboard controller for sending SE(2) commands as velocity commands.

This class is designed to provide a keyboard controller for mobile base (such as quadrupeds). It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot’s task-space commands.

The command comprises of the base linear and angular velocity: \((v_x, v_y, \omega_z)\).

Key bindings:

Command	Key (+ve axis)	Key (-ve axis)
Move along x-axis	Numpad 8 / Arrow Up	Numpad 2 / Arrow Down
Move along y-axis	Numpad 4 / Arrow Right	Numpad 6 / Arrow Left
Rotate along z-axis	Numpad 7 / X	Numpad 9 / Y

See also

The official documentation for the keyboard interface: Carb Keyboard Interface.

Methods:

`__init__`([v_x_sensitivity, v_y_sensitivity, ...])	Initialize the keyboard layer.
`reset`()	Reset the internals.
`add_callback`(key, func)	Add additional functions to bind keyboard.
`advance`()	Provides the result from keyboard event state.

__init__(v_x_sensitivity: float = 0.8, v_y_sensitivity: float = 0.4, omega_z_sensitivity: float = 1.0)[source]#

Initialize the keyboard layer.

Parameters:

v_x_sensitivity – Magnitude of linear velocity along x-direction scaling. Defaults to 0.8.
v_y_sensitivity – Magnitude of linear velocity along y-direction scaling. Defaults to 0.4.
omega_z_sensitivity – Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.

reset()[source]#: Reset the internals.

add_callback(key: str, func: Callable)[source]#

Add additional functions to bind keyboard.

A list of available keys are present in the carb documentation.

Parameters:

key – The keyboard button to check against.
func – The function to call when key is pressed. The callback function should not take any arguments.

advance() → numpy.ndarray[source]#

Provides the result from keyboard event state.

Returns:: 3D array containing the linear (x,y) and angular velocity (z).

class omni.isaac.orbit.devices.Se3Keyboard[source]#

Bases: DeviceBase

A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close).

This class is designed to provide a keyboard controller for a robotic arm with a gripper. It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot’s task-space commands.

The command comprises of two parts:

delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.
gripper: a binary command to open or close the gripper.

Key bindings:

Description	Key (+ve axis)	Key (-ve axis)
Toggle gripper (open/close)	K
Move along x-axis	W	S
Move along y-axis	A	D
Move along z-axis	Q	E
Rotate along x-axis	Z	X
Rotate along y-axis	T	G
Rotate along z-axis	C	V

See also

The official documentation for the keyboard interface: Carb Keyboard Interface.

Methods:

`__init__`([pos_sensitivity, rot_sensitivity])	Initialize the keyboard layer.
`reset`()	Reset the internals.
`add_callback`(key, func)	Add additional functions to bind keyboard.
`advance`()	Provides the result from keyboard event state.

__init__(pos_sensitivity: float = 0.4, rot_sensitivity: float = 0.8)[source]#

Initialize the keyboard layer.

Parameters:

pos_sensitivity – Magnitude of input position command scaling. Defaults to 0.05.
rot_sensitivity – Magnitude of scale input rotation commands scaling. Defaults to 0.5.

reset()[source]#: Reset the internals.

add_callback(key: str, func: Callable)[source]#

Add additional functions to bind keyboard.

A list of available keys are present in the carb documentation.

Parameters:

key – The keyboard button to check against.
func – The function to call when key is pressed. The callback function should not take any arguments.

advance() → tuple[numpy.ndarray, bool][source]#

Provides the result from keyboard event state.

Returns:: A tuple containing the delta pose command and gripper commands.

Space Mouse#

class omni.isaac.orbit.devices.Se2SpaceMouse[source]#

Bases: DeviceBase

A space-mouse controller for sending SE(2) commands as delta poses.

This class implements a space-mouse controller to provide commands to mobile base. It uses the HID-API which interfaces with USD and Bluetooth HID-class devices across multiple platforms.

The command comprises of the base linear and angular velocity: \((v_x, v_y, \omega_z)\).

Note

The interface finds and uses the first supported device connected to the computer.

Currently tested for following devices:

SpaceMouse Compact: https://3dconnexion.com/de/product/spacemouse-compact/

Methods:

`__init__`([v_x_sensitivity, v_y_sensitivity, ...])	Initialize the spacemouse layer.
`reset`()	Reset the internals.
`add_callback`(key, func)	Add additional functions to bind keyboard.
`advance`()	Provides the result from spacemouse event state.

__init__(v_x_sensitivity: float = 0.8, v_y_sensitivity: float = 0.4, omega_z_sensitivity: float = 1.0)[source]#

Initialize the spacemouse layer.

Parameters:

v_x_sensitivity – Magnitude of linear velocity along x-direction scaling. Defaults to 0.8.
v_y_sensitivity – Magnitude of linear velocity along y-direction scaling. Defaults to 0.4.
omega_z_sensitivity – Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.

reset()[source]#: Reset the internals.

add_callback(key: str, func: Callable)[source]#

Add additional functions to bind keyboard.

Parameters:

key – The button to check against.
func – The function to call when key is pressed. The callback function should not take any arguments.

advance() → numpy.ndarray[source]#

Provides the result from spacemouse event state.

Returns:: A 3D array containing the linear (x,y) and angular velocity (z).

class omni.isaac.orbit.devices.Se3SpaceMouse[source]#

Bases: DeviceBase

A space-mouse controller for sending SE(3) commands as delta poses.

This class implements a space-mouse controller to provide commands to a robotic arm with a gripper. It uses the HID-API which interfaces with USD and Bluetooth HID-class devices across multiple platforms [1].

The command comprises of two parts:

delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.
gripper: a binary command to open or close the gripper.

Note

The interface finds and uses the first supported device connected to the computer.

Currently tested for following devices:

SpaceMouse Compact: https://3dconnexion.com/de/product/spacemouse-compact/

Methods:

`__init__`([pos_sensitivity, rot_sensitivity])	Initialize the space-mouse layer.
`reset`()	Reset the internals.
`add_callback`(key, func)	Add additional functions to bind keyboard.
`advance`()	Provides the result from spacemouse event state.

__init__(pos_sensitivity: float = 0.4, rot_sensitivity: float = 0.8)[source]#

Initialize the space-mouse layer.

Parameters:

pos_sensitivity – Magnitude of input position command scaling. Defaults to 0.4.
rot_sensitivity – Magnitude of scale input rotation commands scaling. Defaults to 0.8.

reset()[source]#: Reset the internals.

add_callback(key: str, func: Callable)[source]#

Add additional functions to bind keyboard.

Parameters:

key – The button to check against.
func – The function to call when key is pressed. The callback function should not take any arguments.

advance() → tuple[numpy.ndarray, bool][source]#

Provides the result from spacemouse event state.

Returns:: A tuple containing the delta pose command and gripper commands.

orbit.devices

Contents

orbit.devices#

Device Base#

Game Pad#

Keyboard#

Space Mouse#