feat: Dualsense device support

[OceanPresentChao]

What this does

Recently I try to integrate my DualSense controller with robosuite to teleoperate the simulated robot. I finish it and I think maybe we can merge the feature into Robosuite official codebase

Title	Label
Dualsense device support	(✨ Feature) Added Sony PS5 DualSense device support for teleoperating simulated robot in environment

PS: The doc has not been updated. If Robosuite has a plan to add this feature, I will commit to update.

How it was tested

• Added dualsense option for device arg in demos/demo_device_control.py.
• Test with real dualsense controller in MacOS and Unbuntu20.04.

How to checkout & try? (for the reviewer)

Connect your dualsense to your computer through USB or BlueTooth
Run

python -m robosuite.demo.demo_device_control --device dualsense

In MacOS, run

mjpython robosuite/demos/demo_device_control.py --device dualsense

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[OceanPresentChao]

@kevin-thankyou-lin @yukezhu

[kevin-thankyou-lin]

Hi @OceanPresentChao, thanks for this awesome contribution! Yes, if you're able to update the docs here that'd be awesome too.

[kevin-thankyou-lin]

Small comment on docs, otherwise looks great and thank you!

[kevin-thankyou-lin]

I think ESC still works for quitting across all devices? Maybe let's keep that?

[OceanPresentChao]

There isn't any 'esc' key listener in source code. I try esc key in both MacOS and Ubuntu but it doesn't work. So I think it is a typographical mistake.
We can add key listener if needed:

elif key == pynput.keyboard.Key.esc:
    print("Detect `esc` key, exiting")
    os._exit(0)

[kevin-thankyou-lin]

My apologies -- I guess I meant Ctrl + q, as in robosuite.devices.keyboard.py's print_command("Ctrl+q", "reset simulation"). Looks like current docs are incorrect.

I think Ctrl + q is nicer than Ctrl + c because Ctrl + c ends the current program and thus you need to run the python script again to e.g. collect more data using python robosuite/scripts/collect_human_demonstrations.py --device keyboard/dualsense

Could we please update to Ctrl + q? I'll merge after that - thanks for making these updates!

[OceanPresentChao]

I think I get what you mean and the difference between quit and reset. The docs docs/modules/devices.md already contain both ctrl + q for reset and ctrl + c for quit. I think we can remain both of them?

Actually, it is q instead of ctrl + q in robosuite/devices/keyboard.py. There isn't binding of ctrl and I have tried it : ) .
Of course, ctrl + q still works; it's a very small mistake. Should we update the docs to q?

[kevin-thankyou-lin]

Ah I see; I think Ctrl in Ctrl+q was deliberately added as a way to escape mujoco viewer logging stuff, from this commit: "update keyboard instruction for reseting: add Ctrl to command to prevent interference with mj viewer".

[kevin-thankyou-lin]

Weird, we're getting a failed test on the robot models --- would it be possible you for to run pytest -v tests/test_robots/test_composite_robots.py locally to see if you also get the same error in the test run and paste the output here? Seems like something's wrong w/ the Saywer robot e.g. [None-Sawyer]

[OceanPresentChao]

Weird, we're getting a failed test on the robot models --- would it be possible you for to run pytest -v tests/test_robots/test_composite_robots.py locally to see if you also get the same error in the test run and paste the output here? Seems like something's wrong w/ the Saywer robot e.g. [None-Sawyer]

Of course. I run python -m pytest locally and get the same errors as the GitHub action. It seems the error of robosuite

This is my MacOS Environment:

Hardware Overview:
      OS Version: MacOS Sequoia 15.3.1
      Model Name: MacBook Air
      Model Identifier: Mac14,2
      Model Number: Z15W0000BZP/A
      Chip: Apple M2
      Total Number of Cores: 8 (4 performance and 4 efficiency)
      Memory: 16 GB
      System Firmware Version: 11881.81.4
      OS Loader Version: 11881.81.4

Software Overview
    platform darwin 
    Python 3.11.11
    pytest-8.3.4
    pluggy-1.5.0

on latest robosuite master branch

I got errors:

on current pr dualsense branch

I think it's the same as the master branch

[kevin-thankyou-lin]

Gotcha, thanks for running this test! I'll debug later this week/weekend

[kevin-thankyou-lin]

Merging in for now - thanks for your great contribution, @OceanPresentChao!