# Use Teleoperation Devices


## Spacemouse

### Intro

<p>
In our codebase, the default teleoperation device is the
SpaceMouse. The Spacemouse provides a 6DoF control over both positions
and orientation, and the two keys on the side provide grasping
functionality and resetting functions. This codebase majorly inherit from
the infrastructure from <a class="reference external" href="https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/devices/spacemouse.py">robosuite</a>.
</p>


### Installation


<div class="toggle admonition note">
<p class="admonition-title">Assitive Note - Setup spacemouse</p>
We've provided a list of checkboxes for you to keep track of all the necessary steps.

<div>
<input type="checkbox" id="setup-udev-rule" name="setup-udev-rule" value="setup-udev">
<label for="setup-udev-rule"> Step 1: Setup a <code>udev</code> rule</label><br>
<input type="checkbox" id="reload-udev" name="reload-udev" value="reload-udev">
<label for="reload-udev"> Step 2: Reload the <code>udev</code> rule</label><br>
</div>
</div>

<b> Step 1. Setup a udev rule</b>

Installation (Linux): Before using a SpaceMouse in the system, you need
to install: 1) `hidapi` python package and 2) `udev` system (in order to avoid sudo). You might need to install `libmotif-dev`. 

<b>`udev` rules</b>: In order for hidapi to open the device without sudo, we need to do the following steps: 
   Step 1. First of all, create a rule file `xx-spacemouse.rules` under the folder `/etc/udev/rules.d/` (Replace xx with a number larger than 50).

```shell
KERNEL=="hidraw*", ATTRS{idVendor}=="256f", ATTRS{idProduct}=="c62e", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="256f", ATTRS{idProduct}=="c62e", MODE="0666", GROUP="plugdev"
```


<b> Step 2. Reload the udev rule</b>

We need to reload the defined udev rule to take effect. Reload can be done through: 

```shell
sudo udevadm control --reload-rules
```

<b> Step 3. Get <code>vendor_id</code> and <code>product_id</code> of your Spacemouse</b>

Then let's install `hidapi`, which is for getting the device information (`vendor_id` and `product_id`) of Spacemouse using python. To acquire `hidapi`, install it in your virtual environment through: 

``` shell
pip install hidapi
```

And to find out the spacemouse configuration, connect the spacemouse to the machine, and do:

``` shell
import hid
hid.enumerate()
```

This will show the information for a list of devices connected. Locate
the information about the spacemouse, and take a note on the
`vendor_id` and `product_id`. 

If there is no device shown as Spacemouse, that means there is some installation process done inappropriately. Please check the installation process.


### Example Usage

We've provided a example script that allow users to control the robot through spacemouse. Make sure you are under the parent `Deoxys` folder, and run:

Commands on Desktop Under `Deoxys`,  run

```shell
python examples/run_deoxys_with_spacemouse.py 
```

You might need to change the following configurations: 
  - spacemouse vendor_id and product_id ([here](https://github.com/UT-Austin-RPL/deoxys_control/blob/33d9fd446023f86a99a17f65ee81784786267396/deoxys/examples/run_deoxys_with_space_mouse.py#L19)) 
  - the config file for configuring `FrankaInterface` ([here](https://github.com/UT-Austin-RPL/deoxys_control/blob/33d9fd446023f86a99a17f65ee81784786267396/deoxys/examples/run_deoxys_with_space_mouse.py#L16)) if necessary.

You might also check and change the PC / NUC names [here](https://github.com/UT-Austin-RPL/deoxys_control/blob/main/deoxys/config/charmander.yml). 

<!-- 
<details>
<summary><b>Example Usage</summary>
<p>

</p>
</details> -->