# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Gamepad controller for SE(3) control."""
import numpy as np
import weakref
from collections.abc import Callable
from scipy.spatial.transform import Rotation
import carb
import omni
from ..device_base import DeviceBase
[文档]class Se3Gamepad(DeviceBase):
"""A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close).
This class is designed to provide a gamepad controller for a robotic arm with a gripper.
It uses the gamepad interface to listen to gamepad events and map them to the robot's
task-space commands.
The command comprises of two parts:
* delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.
* gripper: a binary command to open or close the gripper.
Stick and Button bindings:
============================ ========================= =========================
Description Stick/Button (+ve axis) Stick/Button (-ve axis)
============================ ========================= =========================
Toggle gripper(open/close) X Button X Button
Move along x-axis Left Stick Up Left Stick Down
Move along y-axis Left Stick Left Left Stick Right
Move along z-axis Right Stick Up Right Stick Down
Rotate along x-axis D-Pad Left D-Pad Right
Rotate along y-axis D-Pad Down D-Pad Up
Rotate along z-axis Right Stick Left Right Stick Right
============================ ========================= =========================
.. seealso::
The official documentation for the gamepad interface: `Carb Gamepad Interface <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html>`__.
"""
[文档] def __init__(self, pos_sensitivity: float = 1.0, rot_sensitivity: float = 1.6, dead_zone: float = 0.01):
"""Initialize the gamepad layer.
Args:
pos_sensitivity: Magnitude of input position command scaling. Defaults to 1.0.
rot_sensitivity: Magnitude of scale input rotation commands scaling. Defaults to 1.6.
dead_zone: Magnitude of dead zone for gamepad. An event value from the gamepad less than
this value will be ignored. Defaults to 0.01.
"""
# turn off simulator gamepad control
carb_settings_iface = carb.settings.get_settings()
carb_settings_iface.set_bool("/persistent/app/omniverse/gamepadCameraControl", False)
# store inputs
self.pos_sensitivity = pos_sensitivity
self.rot_sensitivity = rot_sensitivity
self.dead_zone = dead_zone
# acquire omniverse interfaces
self._appwindow = omni.appwindow.get_default_app_window()
self._input = carb.input.acquire_input_interface()
self._gamepad = self._appwindow.get_gamepad(0)
# note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called
self._gamepad_sub = self._input.subscribe_to_gamepad_events(
self._gamepad,
lambda event, *args, obj=weakref.proxy(self): obj._on_gamepad_event(event, *args),
)
# bindings for gamepad to command
self._create_key_bindings()
# command buffers
self._close_gripper = False
# When using the gamepad, two values are provided for each axis.
# For example: when the left stick is moved down, there are two evens: `left_stick_down = 0.8`
# and `left_stick_up = 0.0`. If only the value of left_stick_up is used, the value will be 0.0,
# which is not the desired behavior. Therefore, we save both the values into the buffer and use
# the maximum value.
# (positive, negative), (x, y, z, roll, pitch, yaw)
self._delta_pose_raw = np.zeros([2, 6])
# dictionary for additional callbacks
self._additional_callbacks = dict()
def __del__(self):
"""Unsubscribe from gamepad events."""
self._input.unsubscribe_from_gamepad_events(self._gamepad, self._gamepad_sub)
self._gamepad_sub = None
def __str__(self) -> str:
"""Returns: A string containing the information of joystick."""
msg = f"Gamepad Controller for SE(3): {self.__class__.__name__}\n"
msg += f"\tDevice name: {self._input.get_gamepad_name(self._gamepad)}\n"
msg += "\t----------------------------------------------\n"
msg += "\tToggle gripper (open/close): X\n"
msg += "\tMove arm along x-axis: Left Stick Up/Down\n"
msg += "\tMove arm along y-axis: Left Stick Left/Right\n"
msg += "\tMove arm along z-axis: Right Stick Up/Down\n"
msg += "\tRotate arm along x-axis: D-Pad Right/Left\n"
msg += "\tRotate arm along y-axis: D-Pad Down/Up\n"
msg += "\tRotate arm along z-axis: Right Stick Left/Right\n"
return msg
"""
Operations
"""
[文档] def reset(self):
# default flags
self._close_gripper = False
self._delta_pose_raw.fill(0.0)
[文档] def add_callback(self, key: carb.input.GamepadInput, func: Callable):
"""Add additional functions to bind gamepad.
A list of available gamepad keys are present in the
`carb documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html>`__.
Args:
key: The gamepad button to check against.
func: The function to call when key is pressed. The callback function should not
take any arguments.
"""
self._additional_callbacks[key] = func
[文档] def advance(self) -> tuple[np.ndarray, bool]:
"""Provides the result from gamepad event state.
Returns:
A tuple containing the delta pose command and gripper commands.
"""
# -- resolve position command
delta_pos = self._resolve_command_buffer(self._delta_pose_raw[:, :3])
# -- resolve rotation command
delta_rot = self._resolve_command_buffer(self._delta_pose_raw[:, 3:])
# -- convert to rotation vector
rot_vec = Rotation.from_euler("XYZ", delta_rot).as_rotvec()
# return the command and gripper state
return np.concatenate([delta_pos, rot_vec]), self._close_gripper
"""
Internal helpers.
"""
def _on_gamepad_event(self, event, *args, **kwargs):
"""Subscriber callback to when kit is updated.
Reference:
https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html
"""
# check if the event is a button press
cur_val = event.value
if abs(cur_val) < self.dead_zone:
cur_val = 0
# -- button
if event.input == carb.input.GamepadInput.X:
# toggle gripper based on the button pressed
if cur_val > 0.5:
self._close_gripper = not self._close_gripper
# -- left and right stick
if event.input in self._INPUT_STICK_VALUE_MAPPING:
direction, axis, value = self._INPUT_STICK_VALUE_MAPPING[event.input]
# change the value only if the stick is moved (soft press)
self._delta_pose_raw[direction, axis] = value * cur_val
# -- dpad (4 arrow buttons on the console)
if event.input in self._INPUT_DPAD_VALUE_MAPPING:
direction, axis, value = self._INPUT_DPAD_VALUE_MAPPING[event.input]
# change the value only if button is pressed on the DPAD
if cur_val > 0.5:
self._delta_pose_raw[direction, axis] = value
self._delta_pose_raw[1 - direction, axis] = 0
else:
self._delta_pose_raw[:, axis] = 0
# additional callbacks
if event.input in self._additional_callbacks:
self._additional_callbacks[event.input]()
# since no error, we are fine :)
return True
def _create_key_bindings(self):
"""Creates default key binding."""
# map gamepad input to the element in self._delta_pose_raw
# the first index is the direction (0: positive, 1: negative)
# the second index is the axis (0: x, 1: y, 2: z, 3: roll, 4: pitch, 5: yaw)
# the third index is the sensitivity of the command
self._INPUT_STICK_VALUE_MAPPING = {
# forward command
carb.input.GamepadInput.LEFT_STICK_UP: (0, 0, self.pos_sensitivity),
# backward command
carb.input.GamepadInput.LEFT_STICK_DOWN: (1, 0, self.pos_sensitivity),
# right command
carb.input.GamepadInput.LEFT_STICK_RIGHT: (0, 1, self.pos_sensitivity),
# left command
carb.input.GamepadInput.LEFT_STICK_LEFT: (1, 1, self.pos_sensitivity),
# upward command
carb.input.GamepadInput.RIGHT_STICK_UP: (0, 2, self.pos_sensitivity),
# downward command
carb.input.GamepadInput.RIGHT_STICK_DOWN: (1, 2, self.pos_sensitivity),
# yaw command (positive)
carb.input.GamepadInput.RIGHT_STICK_RIGHT: (0, 5, self.rot_sensitivity),
# yaw command (negative)
carb.input.GamepadInput.RIGHT_STICK_LEFT: (1, 5, self.rot_sensitivity),
}
self._INPUT_DPAD_VALUE_MAPPING = {
# pitch command (positive)
carb.input.GamepadInput.DPAD_UP: (1, 4, self.rot_sensitivity * 0.8),
# pitch command (negative)
carb.input.GamepadInput.DPAD_DOWN: (0, 4, self.rot_sensitivity * 0.8),
# roll command (positive)
carb.input.GamepadInput.DPAD_RIGHT: (1, 3, self.rot_sensitivity * 0.8),
# roll command (negative)
carb.input.GamepadInput.DPAD_LEFT: (0, 3, self.rot_sensitivity * 0.8),
}
def _resolve_command_buffer(self, raw_command: np.ndarray) -> np.ndarray:
"""Resolves the command buffer.
Args:
raw_command: The raw command from the gamepad. Shape is (2, 3)
This is a 2D array since gamepad dpad/stick returns two values corresponding to
the positive and negative direction. The first index is the direction (0: positive, 1: negative)
and the second index is value (absolute) of the command.
Returns:
Resolved command. Shape is (3,)
"""
# compare the positive and negative value decide the sign of the value
# if the positive value is larger, the sign is positive (i.e. False, 0)
# if the negative value is larger, the sign is positive (i.e. True, 1)
delta_command_sign = raw_command[1, :] > raw_command[0, :]
# extract the command value
delta_command = raw_command.max(axis=0)
# apply the sign
# if the sign is positive, the value is already positive.
# if the sign is negative, the value is negative after applying the sign.
delta_command[delta_command_sign] *= -1
return delta_command
