> Also a 3d connexion space mouse is used to control the rocci.

Did you know that the SpaceMouse got developed by the German Aerospace Center (Deutsches Zentrum für Luft- und Raumfahrt) as DLR SpaceMouse for controlling robot arms in space?

https://www.dlr.de/rm-neu/en/desktopdefault.aspx/tabid-3808/