Add spacemouse SE3/SE2 device: schema, tracker, plugin, retargeters (1.4.x) - #1020
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rwiltz wants to merge 10 commits into
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Add spacemouse SE3/SE2 device: schema, tracker, plugin, retargeters (1.4.x)#1020rwiltz wants to merge 10 commits into
rwiltz wants to merge 10 commits into
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…1.4.x) Backport of the spacemouse device from main, hand-ported rather than cherry-picked: this branch predates both the manifest-driven tracker codegen (trackers.toml doesn't exist here) and the consolidation of isaacteleop's Python source under src/python. SpaceMouseTracker is therefore hand-written (deviceio_base interface, deviceio_trackers facade, live_trackers/replay_trackers impls + factory dispatch entries), following keyboard_tracker's structure exactly (itself following generic_3axis_pedal_tracker's), and the Python-side files live at this branch's pre-consolidation paths (src/core/retargeting_engine/python/..., src/retargeters/...). This branch is based directly on release/1.4.x (not stacked on the keyboard/gamepad 1.4.x backports), matching the standalone structure already used for spacemouse on main. Feature set matches main: - spacemouse.fbs + SpaceMouseTracker: raw 3Dconnexion HID state (translation: [float](3), rotation: [float](3), pressed_buttons: [ushort]), no semantic mapping. - spacemouse plugin: standalone Linux hidraw (/dev/hidraw*) reader, self-discovers its device by matching HID_NAME under /sys/class/hidraw/ against validated SpaceMouse-family product names, auto-launched by PluginManager. Decodes the same raw report protocol as Isaac Lab's Se2SpaceMouse/Se3SpaceMouse (report ID 1 = translation, report ID 2 = rotation, report ID 3 = button bitmask; "3Dconnexion Universal Receiver" packs both axis reports into one combined 13-byte report). Button state is decoded as a genuine bitmask rather than the legacy single-button exact-equality check, which is more robust under simultaneous presses while preserving single-press semantics. Bundled inside the wheel (isaacteleop. plugins.spacemouse), extending the mechanism added for the keyboard plugin. - SpaceMouseSource (IDeviceIOSource) exposing "spacemouse_translation", "spacemouse_rotation" (3-entry float32 axis arrays) and "spacemouse_buttons" (8-entry button bitmap) -- axes and buttons are reported as-is; retargeters own all axis/button-to-action mapping. - SpaceMouseToSe3RelRetargeter + SpaceMouseGripperRetargeter (axis deflection -> EE delta, left-button toggle -> gripper) and SpaceMouseToSe2Retargeter (axis deflection -> base velocity), matching the legacy Se3SpaceMouse/Se2SpaceMouse axis bindings, including Se2's un-inverted omega_z mapping (a faithful port of the legacy behavior, not a fix). Device support is a superset of the legacy Python implementation: Se3SpaceMouse validated 4 devices (Compact, Wireless, SpaceNavigator for Notebooks, Universal Receiver) and Se2SpaceMouse only 2; this plugin's device-family-agnostic discovery supports all 4, since either retargeter can be applied to whichever device is connected. 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; 6 remain after this review. 📝 WalkthroughWalkthroughThe change adds Linux SpaceMouse HID input and publishes normalized translation, rotation, button, and validity data through FlatBuffers. Live and replay trackers consume the data through MCAP channels. Python bindings expose the schema and tracker. A source node converts tracked data to tensors. SE3, gripper, and SE2 retargeters consume those tensors. CMake and package metadata stage the plugin, and an example prints device output. Estimated code review effort: 4 (Complex) | ~60 minutes Merge Risk: 🟡 Moderate · up to This PR adds SpaceMouse support, but the current implementation can start without telemetry, forward stale or invalid input after device problems, trigger a later cleanup failure, and require an undeclared runtime dependency. The PR should not be merged until these bounded integration and correctness risks are fixed or explicitly accepted. Sequence Diagram(s)sequenceDiagram
participant SpaceMousePlugin
participant SchemaPusher
participant LiveSpaceMouseTrackerImpl
participant SpaceMouseSource
participant SpaceMouseToSe3RelRetargeter
SpaceMousePlugin->>SchemaPusher: Push SpaceMouseOutputRecord
SchemaPusher->>LiveSpaceMouseTrackerImpl: Provide tracked SpaceMouse data
LiveSpaceMouseTrackerImpl->>SpaceMouseSource: Return SpaceMouseOutputTrackedT
SpaceMouseSource->>SpaceMouseToSe3RelRetargeter: Provide translation and rotation tensors
SpaceMouseToSe3RelRetargeter->>SpaceMouseToSe3RelRetargeter: Compute six-element relative SE3 command
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
Full details: Docstring CoverageExplanation Docstring coverage is 30.85% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 94 functions across 31 files. (1 skipped: 1 unsupported.) ✨ Finishing Touches 💡 1📝 Generate docstrings 💡
🧪 Generate unit tests (beta)
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Actionable comments posted: 4
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Inline comments:
In `@examples/teleop/python/spacemouse_printer_example.py`:
- Line 29: Update the plugin path setup in the example to import and use
isaacteleop.plugins.plugin_search_path() for PluginConfig.search_paths,
replacing the manually computed PLUGIN_ROOT_DIR path so TeleopSession discovers
the bundled spacemouse_plugin in both checkout and wheel layouts.
In
`@src/core/retargeting_engine/python/deviceio_source_nodes/spacemouse_source.py`:
- Around line 175-203: Update _compute_fn to treat a non-null SpaceMouseOutput
with is_valid == false as unavailable, using the existing set_none() outputs and
early return path before forwarding translation, rotation, or buttons. Add a
regression test covering an invalid replay sample and verifying all three
outputs are unset.
In `@src/plugins/spacemouse/spacemouse_plugin.cpp`:
- Around line 169-177: Update SpaceMousePlugin::close_device() to return
immediately when device_fd_ is negative, avoiding the assertion and repeated
close. When closing an active device, also reset the retained translation and
rotation state alongside pressed_buttons_ so subsequent updates cannot publish
stale motion.
In `@src/retargeters/__init__.py`:
- Around line 115-119: Update the SpaceMouseGripperRetargeter export and its
module placement so loading it does not fail without SciPy: either move the
class from spacemouse_se3_retargeter to a SciPy-free module, or change its
dependency metadata from extra=None to the retargeters-lite extra. Preserve the
existing export name and class behavior.
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CMakeLists.txtexamples/teleop/python/spacemouse_printer_example.pysrc/core/deviceio_base/cpp/inc/deviceio_base/spacemouse_tracker_base.hppsrc/core/deviceio_trackers/cpp/CMakeLists.txtsrc/core/deviceio_trackers/cpp/inc/deviceio_trackers/spacemouse_tracker.hppsrc/core/deviceio_trackers/cpp/spacemouse_tracker.cppsrc/core/deviceio_trackers/python/deviceio_trackers_init.pysrc/core/deviceio_trackers/python/tracker_bindings.cppsrc/core/live_trackers/cpp/CMakeLists.txtsrc/core/live_trackers/cpp/inc/live_trackers/live_deviceio_factory.hppsrc/core/live_trackers/cpp/live_deviceio_factory.cppsrc/core/live_trackers/cpp/live_spacemouse_tracker_impl.cppsrc/core/live_trackers/cpp/live_spacemouse_tracker_impl.hppsrc/core/mcap/cpp/inc/mcap/recording_traits.hppsrc/core/python/deviceio_init.pysrc/core/python/isaacteleop_plugins_init.pysrc/core/python/isaacteleop_plugins_spacemouse_init.pysrc/core/python/pyproject.toml.insrc/core/replay_trackers/cpp/CMakeLists.txtsrc/core/replay_trackers/cpp/inc/replay_trackers/replay_deviceio_factory.hppsrc/core/replay_trackers/cpp/replay_deviceio_factory.cppsrc/core/replay_trackers/cpp/replay_spacemouse_tracker_impl.cppsrc/core/replay_trackers/cpp/replay_spacemouse_tracker_impl.hppsrc/core/retargeting_engine/python/deviceio_source_nodes/__init__.pysrc/core/retargeting_engine/python/deviceio_source_nodes/deviceio_tensor_types.pysrc/core/retargeting_engine/python/deviceio_source_nodes/spacemouse_source.pysrc/core/retargeting_engine_tests/python/test_spacemouse.pysrc/core/schema/fbs/spacemouse.fbssrc/core/schema/python/CMakeLists.txtsrc/core/schema/python/schema_init.pysrc/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/retargeters/__init__.pysrc/retargeters/spacemouse_se2_retargeter.pysrc/retargeters/spacemouse_se3_retargeter.py
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…structor against double-close Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
…t shim Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
…rame Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
…irectory 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>
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Description
Backport of the spacemouse device from main, hand-ported for this branch's pre-codegen, pre-consolidation structure (same rationale as the gamepad 1.4.x backport). SpaceMouseTracker is hand-written
(deviceio_base interface, facade, live/replay impls, factory dispatch), and Python-side files live at src/core/retargeting_engine/python/... and src/retargeters/....
Feature set matches main: spacemouse.fbs + SpaceMouseTracker, the HID plugin (bundled via
bundle_spacemouse_plugin, gated to Linux-only builds), SpaceMouseSource, and all three retargeters withidentical axis mapping/sensitivities.
Fixes #(issue)
Type of change
Testing
Same as the main-branch PR: no physical device available, verified structurally via plugin auto-launch + clean failure on absent hardware. Full retargeting_engine_tests/python/test_spacemouse.py suite
(10 tests) passes.
Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCO