SpaceMouse class seems to have bugs

[tadashiK]

Environments

• Ubuntu 22.04 with open-source Linux drivers for 3Dconnexion devices
• Using SpaceMouse Compact being detected by hid.enumerate().
• Robosuite installed in Conda's virtual environment
• Custom macro setup with correct device and vendor IDs

Bug description

I am using SpaceMouse compact and encountered the following issue.

When I run robosuite/robosuite/demos/demo_device_control.py, hid fails to open my SpaceMouse Compact even if I set device and vendor IDs correctly in macros_private.py. This is weird because I was able to manually open it by device = hid.device(); device.open(9583, 50741).

It turned out that SpaceMouse class uses default values of vendor_id=macros.SPACEMOUSE_VENDOR_ID and product_id=macros.SPACEMOUSE_PRODUCT_ID imported from macros.py instead of macros_private.py. If this is an intended behavior, it's fine. However, it is a bit weird to me that robosuite asks users to set up macros_private.py but does't use it internally.

Another lines that are seemingly a bug is the following;

        while True:
            d = self.device.read(13)
            if d is not None and self._enabled:

                if macros.SPACEMOUSE_PRODUCT_ID == 50741:
                    ## logic for older spacemouse model

These lines check if SPACEMOUSE_PRODUCT_ID is 50741, but if SpaceMouse class is instantiated with product_id=50741 without specifying SPACEMOUSE_PRODUCT_ID in macros.py, these line should check if product_id provided was 50741.

If these are indeed bugs, I will submit a PR to fix them.

[tadashiK]

Also, another thing that seems to be a bug is that in both spacemouse and keyboard control cases, pressing ESC does not end the simulation. Indeed, the code does not seem to be detecting whether ESC key is pressed or not.

If you want me to fix this including above, please let me know if those are actually intended or indeed bugs. I can't do anything otherwise.

[tadashiK]

I found robosuite/devices/spacemouse.py also uses import robosuite.macros as macros, which loads the default macros.py instead of private_macros.py. Maybe the same issue exists in other files too?

[snasiriany]

Thanks for raising all these issues! I've created a PR to address all of these here: https://github.com/ARISE-Initiative/robosuite/pull/389

[snasiriany]

closing for now. let me know if you have more comments.

[tadashiK]

Hi, I am really sorry for the delayed response... The changes look great to me, thanks a lot! In particular, the way how you import private_maros is neat and better than what I did in an ad-hoc way :sweat_smile:

[kunpeng-wu]

hello, may I ask you how to use spacemouse in Ubuntu, I cannot install the official driver, and hid cannot open the device

[tadashiK]

Hi @kunpeng-wu , are you asking me? If you are, I answer your question although I haven't used robosuite for a while and almost forgot how I set up a spacemouse.

First of all, I followed instruction here: https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/devices/spacemouse.py

1. As far as I remember, I first installed a free version of a spacemouse driver (spacenavd) here: https://spacenav.sourceforge.net/
2. Then, I installed hidapi via pip.
3. Finally, I changed SPACEMOUSE_VENDOR_ID and SPACEMOUSE_PRODUCT_ID in macros_private.py to appropriate ones.

For finding appropriate vendor and product IDs, you may want to look into this website, where you can find vendor and product IDs of your spacemouse by searching with the name of your spacemouse: https://the-sz.com/products/usbid/

[kunpeng-wu]

Thank you for your reply! I can use spacemouse through hidapi now. 😄