Add OSC_POSITION option in spacemouse input_utils (#209)

* Add OSC_POSITION option in spacemouse input_utils

robosuite/utils/input_utils.py

@@ -245,6 +245,8 @@ def input2action(device, robot, active_arm="right", env_configuration=None):
         # Scale rotation for teleoperation (tuned for OSC) -- gains tuned for each device
         drotation = drotation * 1.5 if isinstance(device, Keyboard) else drotation * 50
         dpos = dpos * 75 if isinstance(device, Keyboard) else dpos * 125
+    elif controller.name == 'OSC_POSITION':
+        dpos = dpos * 75 if isinstance(device, Keyboard) else dpos * 125
     else:
         # No other controllers currently supported
         print("Error: Unsupported controller specified -- Robot must have either an IK or OSC-based controller!")
@@ -253,7 +255,10 @@ def input2action(device, robot, active_arm="right", env_configuration=None):
     grasp = 1 if grasp else -1
 
     # Create action based on action space of individual robot
-    action = np.concatenate([dpos, drotation, [grasp] * gripper_dof])
+    if controller.name == "OSC_POSITION":
+        action = np.concatenate([dpos, [grasp] * gripper_dof])
+    else:
+        action = np.concatenate([dpos, drotation, [grasp] * gripper_dof])
 
     # Return the action and grasp
     return action, grasp