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Add OSC_POSITION option in spacemouse input_utils #209

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merged 3 commits into from
Apr 29, 2021
Merged

Add OSC_POSITION option in spacemouse input_utils #209

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55ac0b8
Add OSC_POSITION option in spacemouse input_utils
zhuyifengzju Apr 7, 2021
de7e83e
coding style improved
zhuyifengzju Apr 20, 2021
3925496
Merge branch 'master' of github.com:ARISE-Initiative/robosuite into o…
zhuyifengzju Apr 28, 2021
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7 changes: 6 additions & 1 deletion robosuite/utils/input_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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!")
Expand All @@ -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