feat: dualsense device

Author: OceanPresentChao

robosuite/demos/demo_device_control.py

@@ -99,25 +99,56 @@
 from robosuite.wrappers import VisualizationWrapper
 
 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(
+        "--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("--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-camera-on-grasp", action="store_true", help="Switch camera angle on gripper action")
     parser.add_argument(
         "--controller",
         type=str,
         default=None,
         help="Choice of controller. Can be generic (eg. 'BASIC' or 'WHOLE_BODY_MINK_IK') or json file (see robosuite/controllers/config for examples) or None to get the robot's default controller if it exists",
     )
     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(
         "--max_fr",
         default=20,
@@ -168,12 +199,29 @@
     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=True,
+        )
     elif args.device == "mjgui":
         from robosuite.devices.mjgui import MJGUI
 

robosuite/devices/__init__.py

@@ -3,6 +3,7 @@
 
 try:
     from .spacemouse import SpaceMouse
+    from .dualsense import DualSense
 except ImportError as e:
     print("Exception!", e)
     print(