Add spacemouse SE3/SE2 device: schema, tracker, plugin, retargeters - #1019
Add spacemouse SE3/SE2 device: schema, tracker, plugin, retargeters#1019rwiltz wants to merge 8 commits into
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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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Included review availability: Your plan provides up to 12 included reviews per hour; 7 remain after this review. 📝 WalkthroughWalkthroughThis change adds Linux SpaceMouse support across the plugin, FlatBuffers schema, Python bindings, DeviceIO source nodes, and retargeters. The plugin discovers and decodes HID reports, then publishes timestamped output. Python code exposes translation, rotation, and button tensors. SE(3), gripper, and SE(2) retargeters convert this data into teleoperation commands. The change also adds build and installation wiring, documentation, a printer example, and unit tests. Estimated code review effort: 4 (Complex) | ~60 minutes Merge Risk: 🟡 Moderate · up to The change can leave retained nonzero SpaceMouse axes active after device loss, allowing stale motion input, and the public gripper retargeter may fail to import when SciPy is not installed as a declared dependency. Merge should wait for fixes or explicit owner acceptance. Sequence Diagram(s)sequenceDiagram
participant SpaceMouse
participant spacemouse_plugin
participant SchemaPusher
participant SpaceMouseTracker
participant SpaceMouseSource
participant SpaceMouseRetargeter
SpaceMouse->>spacemouse_plugin: send HID reports
spacemouse_plugin->>SchemaPusher: publish SpaceMouseOutput
SpaceMouseTracker->>SchemaPusher: read tracked output
SpaceMouseSource->>SpaceMouseTracker: poll device state
SpaceMouseSource->>SpaceMouseRetargeter: provide translation, rotation, and buttons
SpaceMouseRetargeter-->>SpaceMouseSource: return teleoperation command
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
✨ Finishing Touches 💡 1📝 Generate docstrings 💡
🧪 Generate unit tests (beta)
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Actionable comments posted: 2
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Inline comments:
In `@src/plugins/spacemouse/spacemouse_plugin.cpp`:
- Around line 175-177: Update close_device() to also reset translation_ and
rotation_ when the device is lost, alongside clearing pressed_buttons_. Ensure
push_current_state() cannot publish stale nonzero motion with is_valid = true
after disconnect or failed reconnect attempts.
In `@src/python/isaacteleop/retargeters/__init__.py`:
- Around line 122-126: Update the SpaceMouseGripperRetargeter entry in the
retargeter export mapping to use the lazy-import extra "retargeters-lite",
ensuring SciPy is declared before loading .spacemouse_se3_retargeter.
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CMakeLists.txtexamples/teleop/python/spacemouse_printer_example.pysrc/core/deviceio_trackers/trackers.tomlsrc/core/schema/fbs/spacemouse.fbssrc/core/schema/python/CMakeLists.txtsrc/core/schema/python/schema_module.cppsrc/core/schema/python/spacemouse_bindings.hsrc/plugins/spacemouse/CMakeLists.txtsrc/plugins/spacemouse/README.mdsrc/plugins/spacemouse/main.cppsrc/plugins/spacemouse/plugin.yamlsrc/plugins/spacemouse/spacemouse_plugin.cppsrc/plugins/spacemouse/spacemouse_plugin.hppsrc/python/isaacteleop/deviceio/__init__.pysrc/python/isaacteleop/retargeters/__init__.pysrc/python/isaacteleop/retargeters/spacemouse_se2_retargeter.pysrc/python/isaacteleop/retargeters/spacemouse_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/spacemouse_source.pysrc/python/isaacteleop/schema/__init__.pytests/python/core/retargeting_engine/test_spacemouse_retargeter.pytests/python/core/retargeting_engine/test_spacemouse_source.pytests/python/core/schema/test_spacemouse.py
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…e disconnect Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
…rame Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
rwiltz
changed the title
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>
1 participant
Ports Isaac Lab's Se2SpaceMouse/Se3SpaceMouse off the raw HID protocol onto the IsaacTeleop session API. Validated against IsaacLab's existing implementation and pyspacemouse (a third-party Python
SpaceMouse SDK) to confirm protocol details.
for Notebooks, and the 3Dconnexion Universal Receiver's combined-report layout), auto-launched by PluginManager.
mapping.
matching the legacy Se3SpaceMouse/Se2SpaceMouse axis mapping and sensitivities -- including Se2's non-inverted omega_z, a faithful port of the legacy implementation's asymmetry with Se3's rotation
mapping (documented in-code).
Fixes #(issue)
Type of change
Testing
No physical SpaceMouse device was available for live testing. Verified structurally: OpenXR session creation, tracker registration, and plugin auto-launch all succeed; the plugin correctly reports "No
SpaceMouse-family device found" and exits cleanly when no hardware is attached (the expected, correct failure mode). Full schema/source/retargeter unit-test suite (20 tests) passes with synthetic data
covering translation/rotation mapping, single- and multi-button bitmaps, gripper toggle (including the reset-frame edge case), and inactive-device defaults.
Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCO