Add keyboard SE3/SE2 device: schema, tracker, plugin, retargeters - #1015
Add keyboard SE3/SE2 device: schema, tracker, plugin, retargeters#1015rwiltz wants to merge 9 commits into
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Ports Isaac Lab's Se2Keyboard/Se3Keyboard off raw carb/kit keyboard events onto the IsaacTeleop session API. - keyboard.fbs + (codegen'd) KeyboardTracker: raw evdev key-press state (pressed_keys: [ushort]), no semantic mapping. - keyboard plugin: standalone Linux evdev reader, self-discovers its device under /dev/input/by-path/, auto-launched by PluginManager. - KeyboardSource (IDeviceIOSource) exposing "keyboard" (fixed 13-key SE3 subset) and "keyboard_all_keys" (256-entry bitmap covering every standard key) -- keys are reported as-is; retargeters own all key-to-action mapping. - KeyboardToSe3RelRetargeter + KeyboardGripperRetargeter (WASDQE/ZXTGCV -> EE delta, K-key toggle -> gripper) and KeyboardToSe2Retargeter (arrow/numpad -> base velocity), matching the legacy Se3Keyboard/Se2Keyboard key bindings. Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
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📝 WalkthroughWalkthroughThis change adds Linux evdev keyboard support across the stack. It defines and binds Estimated code review effort: 4 (Complex) | ~45 minutes Merge Risk: 🟡 Moderate · up to The PR adds keyboard teleoperation, but the current head can retain stale key input after recovery, toggle the gripper without a new key press, fail to load the gripper retargeter in supported installations without SciPy, and leave the example unable to receive keyboard input from a source checkout. These bounded issues can cause unintended motion or unavailable functionality, so merge should wait for fixes or explicit owner acceptance. Sequence Diagram(s)sequenceDiagram
participant LinuxKeyboard
participant KeyboardPlugin
participant KeyboardSource
participant KeyboardRetargeter
LinuxKeyboard->>KeyboardPlugin: emit evdev key events
KeyboardPlugin->>KeyboardSource: publish KeyboardOutput
KeyboardSource->>KeyboardRetargeter: provide keyboard tensors
KeyboardRetargeter->>KeyboardRetargeter: compute motion or gripper command
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
✨ Finishing Touches📝 Generate docstrings
🧪 Generate unit tests (beta)
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Inline comments:
In `@src/plugins/keyboard/keyboard_plugin.cpp`:
- Around line 99-106: The keyboard event handling must recover from
EV_SYN/SYN_DROPPED: initialize pressed_keys_ via EVIOCGKEY after opening the
device, discard input events until the next SYN_REPORT, then refresh
pressed_keys_ with EVIOCGKEY before resuming normal processing. Update the
existing event loop and initialization flow without changing ordinary EV_KEY
handling.
In `@src/python/isaacteleop/retargeters/__init__.py`:
- Around line 122-126: Update the KeyboardGripperRetargeter registry entry so
its dependency requirement includes retargeters-lite, preventing access from
importing the SciPy-dependent keyboard_se3_retargeter when SciPy is unavailable;
alternatively, relocate KeyboardGripperRetargeter to a SciPy-free module.
In `@src/python/isaacteleop/retargeters/keyboard_se3_retargeter.py`:
- Around line 125-139: Update _compute_fn so reset frames initialize _closed,
then read the current K-key state and synchronize _prev_k_pressed without
toggling the gripper. Only apply the rising-edge toggle when
context.execution_events.reset is false; preserve the existing handling for
absent keyboard input.
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CMakeLists.txtsrc/core/deviceio_trackers/trackers.tomlsrc/core/schema/fbs/keyboard.fbssrc/core/schema/python/CMakeLists.txtsrc/core/schema/python/keyboard_bindings.hsrc/core/schema/python/schema_module.cppsrc/plugins/keyboard/CMakeLists.txtsrc/plugins/keyboard/README.mdsrc/plugins/keyboard/keyboard_plugin.cppsrc/plugins/keyboard/keyboard_plugin.hppsrc/plugins/keyboard/main.cppsrc/plugins/keyboard/plugin.yamlsrc/python/isaacteleop/deviceio/__init__.pysrc/python/isaacteleop/retargeters/__init__.pysrc/python/isaacteleop/retargeters/keyboard_se2_retargeter.pysrc/python/isaacteleop/retargeters/keyboard_se3_retargeter.pysrc/python/isaacteleop/retargeting_engine/deviceio_source_nodes/__init__.pysrc/python/isaacteleop/retargeting_engine/deviceio_source_nodes/deviceio_tensor_types.pysrc/python/isaacteleop/retargeting_engine/deviceio_source_nodes/keyboard_source.pysrc/python/isaacteleop/retargeting_engine/tensor_types/__init__.pysrc/python/isaacteleop/retargeting_engine/tensor_types/indices.pysrc/python/isaacteleop/retargeting_engine/tensor_types/standard_types.pysrc/python/isaacteleop/schema/__init__.pytests/python/core/retargeting_engine/test_keyboard_retargeter.pytests/python/core/retargeting_engine/test_keyboard_source.pytests/python/core/schema/test_keyboard.py
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…ebase Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
| # Evdev key codes (linux/input-event-codes.h) -> display name, for the keys on a | ||
| # standard PC keyboard. Codes not listed here still show up (as "code<N>") -- | ||
| # this table is for readability, not a completeness gate. | ||
| KEY_NAMES = { |
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Should the plugin or the example be using https://github.com/xkbcommon/libxkbcommon to translate the keycodes instead?
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Short answer: no, and I'd keep it that way, but it's a fair question that deserves the actual reasoning, not just "it's intentional."
What libxkbcommon actually does: takes a raw scancode + the active keymap (layout, modifier state, dead keys) and resolves it to a keysym — "what character/symbol does this physically produce right
now." That's a fundamentally different question from what this plugin answers, which is "is this physical key currently held."
Why raw evdev codes are the right layer here, not a limitation:
- The SE3 bindings (WASDQE for translation, arrows/numpad for base velocity, K for gripper) are physical-position bindings, the same convention every game uses for movement controls. A French AZERTY
user's "W" key is in the same physical spot as a US QWERTY "W" — it just prints a different letter. If we resolved through a keymap, the same physical key would silently rebind to a different KEY_*
code depending on what layout happened to be active when the teleop session started, which is exactly backwards for a control scheme meant to be muscle-memory-stable regardless of layout. - The wire schema (KeyboardOutput.pressed_keys), the tracker, the source node, and every retargeter are built around evdev key codes end to end. Switching to keysyms wouldn't be a local fix in the
plugin — it'd mean threading layout-resolution through the whole chain, and redesigning the retargeter bindings as "the key that types W" instead of "physical position of W," which is a real semantic
change, not a translation-layer swap.
Where it would matter, and why it's not worth it even there: the only place a keymap actually helps is display — showing an operator "you're holding the key labeled Ä" instead of "code30" if they're on
a non-US layout. That's what the printer's KEY_NAMES table is for, and it's cosmetic. Pulling in libxkbcommon for that means a new build dependency and solving keymap discovery for a context where
there's no compositor to query it from — this plugin runs as a standalone binary reading /dev/input/eventN directly, headless, with no X/Wayland session to ask "what's the active layout." You'd have to
hardcode an assumed layout or read raw XKB config files yourself, which is more complexity than the cosmetic benefit justifies.
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Actionable comments posted: 1
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Inline comments:
In `@examples/teleop/python/keyboard_printer_example.py`:
- Line 26: Update the PLUGIN_ROOT_DIR definition in the keyboard printer example
to resolve to the repository’s src/plugins directory, so TeleopSession discovers
and starts the keyboard plugin from the source checkout.
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examples/teleop/python/keyboard_printer_example.py
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…lose Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
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Inline comments:
In `@src/plugins/keyboard/keyboard_plugin.cpp`:
- Around line 160-164: Update KeyboardPlugin::resync_pressed_keys() to return
whether EVIOCGKEY succeeded, and have the SYN_REPORT recovery path clear
awaiting_syn_report_ only when resynchronization succeeds. If resynchronization
fails, retain recovery mode and close/reopen the input device as appropriate
rather than processing stale pressed_keys_.
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src/plugins/keyboard/keyboard_plugin.cppsrc/plugins/keyboard/keyboard_plugin.hppsrc/python/isaacteleop/retargeters/__init__.pysrc/python/isaacteleop/retargeters/keyboard_se3_retargeter.pytests/python/core/retargeting_engine/test_keyboard_retargeter.py
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Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
The Record-type comment described how trackers/McapRecorder serialize and query data, which is implementation detail that doesn't belong in the wire schema. Keep the comment to what the type is. Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
KeyboardToSe3RelRetargeter and KeyboardGripperRetargeter read a separate fixed 13-key TensorGroupType (KeyboardInput), while KeyboardToSe2Retargeter already read the 256-entry keyboard_all_keys bitmap. Move SE3 and the gripper onto keyboard_all_keys too, so KeyboardSource has a single output and every retargeter shares one bitmap-indexing convention. Introduce EvdevKeyCode, a comprehensive IntEnum of standard evdev key codes (linux/input-event-codes.h), replacing both the removed KeyboardInputIndex and keyboard_se2_retargeter.py's raw magic-number key constants. Removes KeyboardInput/KeyboardInputIndex entirely (pre-release, never shipped) rather than deprecating. Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
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Description
Ports Isaac Lab's Se2Keyboard/Se3Keyboard off raw carb/kit keyboard events onto the IsaacTeleop session API.
Fixes #(issue)
Type of change
Testing
Checklist
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