[Proposal] Gamepad support as teleoperation device

[yangcyself]

Proposal

I propose adding the gamepad as a device for teleoperation.

Motivation

A gamepad will make it easier for the teleoperation of the robot arms than the keyboard. Supporting the gamepad also makes the feature set more comprehensive.

Pitch

Implementations of gamepad in source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad, providing classes such as Se2Gamepad and Se3Gamepad.

Alternatives

No

Additional context

Gamepad has already been used for camera navigation. So users need to unselect the "Gamepad Camera Control" option in the GUI before using it for teleoperation.

Checklist

• [x] I have checked that there is no similar issue in the repo (required)

[Mayankm96]

Good point. Maybe we can use the Gamepad Manipulation from Omniverse?

Some useful pointers for this:

• https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_gamepad.html
• https://docs.omniverse.nvidia.com/prod_kit/prod_kit/programmer_ref/input-devices/gamepad.html
• https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html#carb.input.Gamepad

Would this be something you'd be able to help with? The integration should be similar to how keyboard is handled.

[yangcyself]

Yes, I already tried. I'm creating a draft PR.

[Mayankm96]

Awesome! Looking forward to it :)