omni.isaac.lab.devices.device_base 源代码

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Base class for teleoperation interface."""

from abc import ABC, abstractmethod
from collections.abc import Callable
from typing import Any


[文档]class DeviceBase(ABC): """An interface class for teleoperation devices."""
[文档] def __init__(self): """Initialize the teleoperation interface.""" pass
def __str__(self) -> str: """Returns: A string containing the information of joystick.""" return f"{self.__class__.__name__}" """ Operations """
[文档] @abstractmethod def reset(self): """Reset the internals.""" raise NotImplementedError
[文档] @abstractmethod def add_callback(self, key: Any, func: Callable): """Add additional functions to bind keyboard. Args: key: The button to check against. func: The function to call when key is pressed. The callback function should not take any arguments. """ raise NotImplementedError
[文档] @abstractmethod def advance(self) -> Any: """Provides the joystick event state. Returns: The processed output form the joystick. """ raise NotImplementedError