feat: add dualsense option in demos

OceanPresentChao · OceanPresentChao · commit 7b7342fae4a0 · 2025-03-02T13:07:58.000+08:00
diff --git a/robosuite/demos/demo_device_control.py b/robosuite/demos/demo_device_control.py
@@ -155,6 +155,12 @@
         type=int,
         help="Sleep when simluation runs faster than specified frame rate; 20 fps is real time.",
     )
+    parser.add_argument(
+        "--reverse_xy",
+        type=bool,
+        default=False,
+        help="(DualSense Only)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)",
+    )
     args = parser.parse_args()
 
     # Get controller config
@@ -220,14 +226,14 @@
             env=env,
             pos_sensitivity=args.pos_sensitivity,
             rot_sensitivity=args.rot_sensitivity,
-            reverse_xy=True,
+            reverse_xy=args.reverse_xy,
         )
     elif args.device == "mjgui":
         from robosuite.devices.mjgui import MJGUI
 
         device = MJGUI(env=env)
     else:
-        raise Exception("Invalid device choice: choose either 'keyboard' or 'spacemouse'.")
+        raise Exception("Invalid device choice: choose either 'keyboard', 'dualsene' or 'spacemouse'.")
 
     while True:
         # Reset the environment
diff --git a/robosuite/demos/demo_sensor_corruption.py b/robosuite/demos/demo_sensor_corruption.py
@@ -25,23 +25,65 @@
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
     parser.add_argument("--environment", type=str, default="Lift")
-    parser.add_argument("--robots", nargs="+", type=str, default="Panda", help="Which robot(s) to use in the env")
     parser.add_argument(
-        "--config", type=str, default="default", help="Specified environment configuration if necessary"
+        "--robots",
+        nargs="+",
+        type=str,
+        default="Panda",
+        help="Which robot(s) to use in the env",
     )
-    parser.add_argument("--arm", type=str, default="right", help="Which arm to control (eg bimanual) 'right' or 'left'")
-    parser.add_argument("--switch-on-grasp", action="store_true", help="Switch gripper control on gripper action")
     parser.add_argument(
-        "--toggle-corruption-on-grasp", action="store_true", help="Toggle corruption ON / OFF on gripper action"
+        "--config",
+        type=str,
+        default="default",
+        help="Specified environment configuration if necessary",
+    )
+    parser.add_argument(
+        "--arm",
+        type=str,
+        default="right",
+        help="Which arm to control (eg bimanual) 'right' or 'left'",
+    )
+    parser.add_argument(
+        "--switch-on-grasp",
+        action="store_true",
+        help="Switch gripper control on gripper action",
+    )
+    parser.add_argument(
+        "--toggle-corruption-on-grasp",
+        action="store_true",
+        help="Toggle corruption ON / OFF on gripper action",
     )
     parser.add_argument("--device", type=str, default="keyboard")
-    parser.add_argument("--pos-sensitivity", type=float, default=1.0, help="How much to scale position user inputs")
-    parser.add_argument("--rot-sensitivity", type=float, default=1.0, help="How much to scale rotation user inputs")
+    parser.add_argument(
+        "--pos-sensitivity",
+        type=float,
+        default=1.0,
+        help="How much to scale position user inputs",
+    )
+    parser.add_argument(
+        "--rot-sensitivity",
+        type=float,
+        default=1.0,
+        help="How much to scale rotation user inputs",
+    )
     parser.add_argument("--delay", type=float, default=0.04, help="average delay to use (sec)")
-    parser.add_argument("--corruption", type=float, default=20.0, help="Scale of corruption to use (std dev)")
+    parser.add_argument(
+        "--corruption",
+        type=float,
+        default=20.0,
+        help="Scale of corruption to use (std dev)",
+    )
     parser.add_argument("--camera", type=str, default="agentview", help="Name of camera to render")
     parser.add_argument("--width", type=int, default=512)
     parser.add_argument("--height", type=int, default=384)
+    parser.add_argument(
+        "--reverse_xy",
+        type=bool,
+        default=False,
+        help="(DualSense Only)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)",
+    )
+
     args = parser.parse_args()
 
     # Create argument configuration
@@ -164,13 +206,30 @@ def calculate_proprio_delay():
     if args.device == "keyboard":
         from robosuite.devices import Keyboard
 
-        device = Keyboard(env=env, pos_sensitivity=args.pos_sensitivity, rot_sensitivity=args.rot_sensitivity)
+        device = Keyboard(
+            env=env,
+            pos_sensitivity=args.pos_sensitivity,
+            rot_sensitivity=args.rot_sensitivity,
+        )
     elif args.device == "spacemouse":
         from robosuite.devices import SpaceMouse
 
-        device = SpaceMouse(env=env, pos_sensitivity=args.pos_sensitivity, rot_sensitivity=args.rot_sensitivity)
+        device = SpaceMouse(
+            env=env,
+            pos_sensitivity=args.pos_sensitivity,
+            rot_sensitivity=args.rot_sensitivity,
+        )
+    elif args.device == "dualsense":
+        from robosuite.devices import DualSense
+
+        device = DualSense(
+            env=env,
+            pos_sensitivity=args.pos_sensitivity,
+            rot_sensitivity=args.rot_sensitivity,
+            reverse_xy=args.reverse_xy,
+        )
     else:
-        raise Exception("Invalid device choice: choose either 'keyboard' or 'spacemouse'.")
+        raise Exception("Invalid device choice: choose either 'keyboard' or 'spacemouse' or 'dualsense'.")
 
     while True:
         # Reset the environment
diff --git a/robosuite/demos/demo_usd_export.py b/robosuite/demos/demo_usd_export.py
@@ -1,4 +1,4 @@
-""" Exports a USD file corresponding to the collected trajectory.
+"""Exports a USD file corresponding to the collected trajectory.
 
 The USD (Universal Scene Description) file format allows users to save
 trajectories such that they can be rendered in external renderers such
@@ -8,8 +8,9 @@
 
 ***IMPORTANT***: If you are using mujoco version 3.1.1, please make sure
 that you also have numpy < 2 installed in your environment. Failure to do
-so may result in incorrect renderings. 
+so may result in incorrect renderings.
 """
+
 import argparse
 
 import mujoco
@@ -26,21 +27,68 @@
     ROBOSUITE_DEFAULT_LOGGER.warning("If using mujoco==3.1.1, please use numpy < 2 for rendering with USD.")
 
 if __name__ == "__main__":
-
     parser = argparse.ArgumentParser()
     parser.add_argument("--environment", type=str, default="Lift")
-    parser.add_argument("--robots", nargs="+", type=str, default="Panda", help="Which robot(s) to use in the env")
     parser.add_argument(
-        "--config", type=str, default="default", help="Specified environment configuration if necessary"
+        "--robots",
+        nargs="+",
+        type=str,
+        default="Panda",
+        help="Which robot(s) to use in the env",
+    )
+    parser.add_argument(
+        "--config",
+        type=str,
+        default="default",
+        help="Specified environment configuration if necessary",
+    )
+    parser.add_argument(
+        "--arm",
+        type=str,
+        default="right",
+        help="Which arm to control (eg bimanual) 'right' or 'left'",
+    )
+    parser.add_argument(
+        "--camera",
+        type=str,
+        default="agentview",
+        help="Which camera to use for collecting demos",
+    )
+    parser.add_argument(
+        "--switch-on-grasp",
+        action="store_true",
+        help="Switch gripper control on gripper action",
+    )
+    parser.add_argument(
+        "--toggle-camera-on-grasp",
+        action="store_true",
+        help="Switch camera angle on gripper action",
+    )
+    parser.add_argument(
+        "--controller",
+        type=str,
+        default="BASIC",
+        help="Choice of controller. Can be 'ik' or 'osc'",
     )
-    parser.add_argument("--arm", type=str, default="right", help="Which arm to control (eg bimanual) 'right' or 'left'")
-    parser.add_argument("--camera", type=str, default="agentview", help="Which camera to use for collecting demos")
-    parser.add_argument("--switch-on-grasp", action="store_true", help="Switch gripper control on gripper action")
-    parser.add_argument("--toggle-camera-on-grasp", action="store_true", help="Switch camera angle on gripper action")
-    parser.add_argument("--controller", type=str, default="BASIC", help="Choice of controller. Can be 'ik' or 'osc'")
     parser.add_argument("--device", type=str, default="keyboard")
-    parser.add_argument("--pos-sensitivity", type=float, default=1.0, help="How much to scale position user inputs")
-    parser.add_argument("--rot-sensitivity", type=float, default=1.0, help="How much to scale rotation user inputs")
+    parser.add_argument(
+        "--pos-sensitivity",
+        type=float,
+        default=1.0,
+        help="How much to scale position user inputs",
+    )
+    parser.add_argument(
+        "--rot-sensitivity",
+        type=float,
+        default=1.0,
+        help="How much to scale rotation user inputs",
+    )
+    parser.add_argument(
+        "--reverse_xy",
+        type=bool,
+        default=False,
+        help="(DualSense Only)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)",
+    )
     args = parser.parse_args()
 
     # Get controller config
@@ -87,14 +135,31 @@
     if args.device == "keyboard":
         from robosuite.devices import Keyboard
 
-        device = Keyboard(env=env, pos_sensitivity=args.pos_sensitivity, rot_sensitivity=args.rot_sensitivity)
+        device = Keyboard(
+            env=env,
+            pos_sensitivity=args.pos_sensitivity,
+            rot_sensitivity=args.rot_sensitivity,
+        )
         env.viewer.add_keypress_callback(device.on_press)
     elif args.device == "spacemouse":
         from robosuite.devices import SpaceMouse
 
-        device = SpaceMouse(env=env, pos_sensitivity=args.pos_sensitivity, rot_sensitivity=args.rot_sensitivity)
+        device = SpaceMouse(
+            env=env,
+            pos_sensitivity=args.pos_sensitivity,
+            rot_sensitivity=args.rot_sensitivity,
+        )
+    elif args.device == "dualsense":
+        from robosuite.devices import DualSense
+
+        device = DualSense(
+            env=env,
+            pos_sensitivity=args.pos_sensitivity,
+            rot_sensitivity=args.rot_sensitivity,
+            reverse_xy=args.reverse_xy,
+        )
     else:
-        raise Exception("Invalid device choice: choose either 'keyboard' or 'spacemouse'.")
+        raise Exception("Invalid device choice: choose either 'keyboard' or 'spacemouse' or 'dualsense'.")
 
     env.reset()
     cam_id = 0
diff --git a/robosuite/devices/__init__.py b/robosuite/devices/__init__.py
@@ -7,7 +7,7 @@
 except ImportError as e:
     print("Exception!", e)
     print(
-        """Unable to load module hid, required to interface with SpaceMouse.\n
+        """Unable to load module hid, required to interface with SpaceMouse or DualSense.\n
            Only macOS is officially supported. Install the additional\n
            requirements with `pip install -r requirements-extra.txt`"""
     )
diff --git a/robosuite/devices/dualsense.py b/robosuite/devices/dualsense.py
@@ -182,12 +182,14 @@ class DualSense(Device):
     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 https://github.com/nondebug/dualsense
 
     Args:
         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)
     """
 
     def __init__(
@@ -232,7 +234,7 @@ def __init__(
         print("DualSense Connection type: %s" % ConnectionType.to_string(self.connection_type))
         print("")
         print(
-            "PS: You can set `reverse_xy` to True if the left and right sides of the view are opposite to the LX and LY of the joystick."
+            "PS: You can modify `reverse_xy` if 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)."
         )
 
         self.reverse_xy = reverse_xy
@@ -310,6 +312,17 @@ def start_control(self):
         self._enabled = True
 
     def _check_connection_type(self):
+        """
+        Get the connection type of the DualSense controller.
+        ConnectionType:
+        - USB: DualSense connected via USB
+        - BT01: DualSense connected via Bluetooth, sends input report id 0x01
+        - BT31: DualSense connected via Bluetooth, sends input report id 0x31
+        - UNKNOWN: Unknown connection type
+
+        Returns:
+            ConnectionType: connection type(USB, BT01, BT31, UNKNOWN)
+        """
         dummy_report = self.device.read(100)
         dummy_report_length = len(dummy_report)
         if dummy_report_length == USB_REPORT_LENGTH:
diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py

Original file line number	Diff line number	Diff line change
`@@ -7,7 +7,7 @@`
`7`	`7`	`except ImportError as e:`
`8`	`8`	`print("Exception!", e)`
`9`	`9`	`print(`
`10`		`- """Unable to load module hid, required to interface with SpaceMouse.\n`
	`10`	`+ """Unable to load module hid, required to interface with SpaceMouse or DualSense.\n`
`11`	`11`	`Only macOS is officially supported. Install the additional\n`
`12`	`12`	requirements with `pip install -r requirements-extra.txt`"""
`13`	`13`	`)`