UniEnv Input Devices

Input-device adaptors for UniEnv, exposed as observation-only WorldNodes.

Supported devices

Each device has its own optional extra and its own README covering hardware setup, installation, calibration, and usage — follow the links above.

Space metadata

Every observation entry is described with unienv space metadata (space.metadata): what it is (kind: "pose", "keypoints", "teleop", "mask"), its units, reference frame (plus an axes note where the frame is device specific), rotation representation of 4x4 transforms ("matrix"), hand, source (AVP IP, SpaceMouse HID path, camera) and fps (1 / control_timestep). For example, find_spaces_by_metadata(node.observation_space, kind="keypoints") finds the keypoint entries of any hand tracker.

Installation

The base package installs with no device SDKs (all nodes import their optional dependencies lazily, so the package imports fine without them):

pip install unienv-input-devices

Add the extra for the device(s) you want, e.g.:

pip install "unienv-input-devices[avp]"
pip install "unienv-input-devices[spacemouse]"
pip install "unienv-input-devices[wilor]"  # + chumpy and wilor_mini from git, see docs/wilor.md

Development

pip install -e ".[test]"
pytest tests/