add spacemouse interface + example (+add haptic skeleton code)

examples/interfaces/README.md

@@ -12,5 +12,6 @@ Here are few examples that depict the various interfaces available to the user:
 5. `asus_xtion.py`: use the Asus Xtion interface
 6. `openpose.py`: use the Openpose interface
 7. `speech.py`: use the speech (recognizer/translator) interface
+8. `spacemouse.py`: use the (3Dconnexion) SpaceMouse interface
 
 **Note**: some interfaces require to install different libraries, and possibly to configure them. Check the raised errors.

examples/interfaces/spacemouse.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python
+"""Run the Space mouse interface.
+
+Make sure that the `spnav` library is installed, and the space mouse (by 3Dconnexion) is connected to the computer
+before running this code.
+"""
+
+import argparse
+import time
+
+from pyrobolearn.tools.interfaces.mouse_keyboard.spacemouse import SpaceMouseInterface
+
+
+# create parser
+parser = argparse.ArgumentParser()
+parser.add_argument('-t', '--use_thread', help='If we should run the webcam interface in a thread.', type=bool,
+                    default=True)
+args = parser.parse_args()
+
+
+# create webcam interface
+if args.use_thread:
+    # create and run interface in a thread
+    interface = SpaceMouseInterface(use_thread=True, sleep_dt=0.001, verbose=True)
+    raw_input('Press key to stop the space mouse interface')
+else:
+    # create interface
+    interface = SpaceMouseInterface(use_thread=False, verbose=True)
+
+    while True:
+        # perform a `step` with the interface
+        interface.step()
+        time.sleep(0.001)