Source code for isaaclab.devices.keyboard.se3_keyboard_cfg

# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Configuration for SE(3) keyboard controller."""

from __future__ import annotations

from typing import TYPE_CHECKING

from isaaclab.utils.configclass import configclass

from ..device_base import DeviceCfg

if TYPE_CHECKING:
    from .se3_keyboard import Se3Keyboard




@configclass
class Se3KeyboardCfg(DeviceCfg):
    """Configuration for SE3 keyboard devices."""

    gripper_term: bool = True
    pos_sensitivity: float = 0.4
    rot_sensitivity: float = 0.8
    retargeters: None = None
    class_type: type[Se3Keyboard] | str = "{DIR}.se3_keyboard:Se3Keyboard"