diff --git a/deoxys/deoxys/utils/io_devices/spacemouse.py b/deoxys/deoxys/utils/io_devices/spacemouse.py
index bd88e24..5d8d8b7 100644
--- a/deoxys/deoxys/utils/io_devices/spacemouse.py
+++ b/deoxys/deoxys/utils/io_devices/spacemouse.py
@@ -116,6 +116,7 @@ def __init__(
         print("Opening SpaceMouse device")
         self.device = hid.device()
         self.device.open(vendor_id, product_id)  # SpaceMouse
+        self.product_id = product_id
 
         self.pos_sensitivity = pos_sensitivity
         self.rot_sensitivity = rot_sensitivity
@@ -219,25 +220,50 @@ def run(self):
             d = self.device.read(13)
             if d is not None and self._enabled:
 
-                if d[0] == 1:  ## readings from 6-DoF sensor
-                    self.y = convert(d[1], d[2])
-                    self.x = convert(d[3], d[4])
-                    self.z = convert(d[5], d[6]) * -1.0
-
-                    self.roll = convert(d[7], d[8])
-                    self.pitch = convert(d[9], d[10])
-                    self.yaw = convert(d[11], d[12])
-
-                    self._control = [
-                        self.x,
-                        self.y,
-                        self.z,
-                        self.roll,
-                        self.pitch,
-                        self.yaw,
-                    ]
-
-                elif d[0] == 3:  ## readings from the side buttons
+                if self.product_id == 50741:
+                    ## logic for older spacemouse model
+
+                    if d[0] == 1:  ## readings from 6-DoF sensor
+                        self.y = convert(d[1], d[2])
+                        self.x = convert(d[3], d[4])
+                        self.z = convert(d[5], d[6]) * -1.0
+
+                    elif d[0] == 2:
+
+                        self.roll = convert(d[1], d[2])
+                        self.pitch = convert(d[3], d[4])
+                        self.yaw = convert(d[5], d[6])
+
+                        self._control = [
+                            self.x,
+                            self.y,
+                            self.z,
+                            self.roll,
+                            self.pitch,
+                            self.yaw,
+                        ]
+                else:
+                    ## default logic for all other spacemouse models
+
+                    if d[0] == 1:  ## readings from 6-DoF sensor
+                        self.y = convert(d[1], d[2])
+                        self.x = convert(d[3], d[4])
+                        self.z = convert(d[5], d[6]) * -1.0
+
+                        self.roll = convert(d[7], d[8])
+                        self.pitch = convert(d[9], d[10])
+                        self.yaw = convert(d[11], d[12])
+
+                        self._control = [
+                            self.x,
+                            self.y,
+                            self.z,
+                            self.roll,
+                            self.pitch,
+                            self.yaw,
+                        ]
+
+                if d[0] == 3:  ## readings from the side buttons
 
                     # press left button
                     if d[1] == 1: