Update linear speed from user input.

Update the robot status display with individual labels.

Validate that the end effector frame exists. Raises: ValueError: If the end effector frame is not found in the URDF.

Add basic GUI controls (timing, joint angles).

Add 1€ Filter parameter controls for controller. Args: initial_min_cutoff: Initial minimum cutoff frequency initial_b

Add controller transform visualization.

Add gripper status display controls.

Add Pink IK parameter controls. Args: position_cost: Initial position cost value orientation_cost: Initial orientatio

Add policy control buttons.

Add policy-related GUI controls. Args: initial_prediction_ratio: Initial prediction horizon execution ratio (0.0-1.0)

Add scaling factor controls for translation and rotation. Args: initial_translation_scale: Initial translation scale factor

Add target/goal frame visualization.

Add teleoperation-specific controls.

Cleanup resources.

Convert predictions to horizon dict.

Convert predictions dict to horizon dict format.

Convert predictions dict to horizon dict format.

Execute prediction horizon.

Get 1€ Filter parameters for controller transform (thread-safe). Returns: Tuple of (min_cutoff, beta, d_cutoff)

Get current execution action index (thread-safe).

Get ghost action index (thread-safe).

Get ghost robot playing (thread-safe).

Get the current gripper open value. Returns: Current gripper open value normalized (0.0 to 1.0).

Get IK solve time (thread-safe). Returns: IK solve time in milliseconds

Get IK success (thread-safe). Returns: True if IK was successful, False otherwise

Get initial robot and controller transforms. These two transforms are captured on rising edge of grip button and reset on falling edg

Get flags indicating significant movement in each direction. Returns: Dictionary with movement flags for x+/-, y+/-, z+/-, roll+/

Get Pink IK parameters from GUI controls. Returns: Dictionary with parameter values Raises: ValueError: If P

Get policy execution rate from GUI. Returns: Policy execution rate in Hz Raises: ValueError: If policy contr

Get prediction horizon execution ratio from GUI. Returns: Prediction ratio (0.0-1.0) Raises: ValueError: If

Get comprehensive robot status information. Returns: dict: Dictionary containing robot status information

Get rotation scale value from GUI. Returns: Rotation scale value Raises: ValueError: If scaling controls not

Get solver timing statistics (in milliseconds).

Get the current target joint angles. Returns: Current target joint angles [j1, j2, j3, j4, j5, j6] in degrees

Get the current target pose. Returns: 4x4 transformation matrix representing the target pose

Get target transform for visualization (thread-safe). Returns: Target transform or None if target transform is not set

Get translation scale value from GUI. Returns: Translation scale value Raises: ValueError: If scaling contro

Increment execution action index (thread-safe).

Main function.

Main monitoring loop.

Main function for replaying a Neuracore dataset on the Piper robot.

Handle Play Policy button press to start/stop continuous policy execution.

Run the GUI and control loops.

Handle Run and Execute Policy button press to capture state, get policy prediction, and immediately execute it.

Run policy and get prediction horizon.

Scale and add delta position and orientation to an initial transform. Args: delta_position: 3D position vector delta_orientation:

Set controller data (thread-safe). Args: transform: np.ndarray | None - 4x4 transformation matrix or None grip: float

Set current end effector pose (thread-safe). Args: pose: np.ndarray - current end effector pose

Set current gripper open value (thread-safe). Args: value: float - current gripper open value

Set current joint angles (thread-safe). Args: angles: np.ndarray - current joint angles

Set callback for execution mode dropdown. Args: callback: Callback function to call when dropdown value changes

Set ghost action index (thread-safe).

Set grip value display. Args: value: Grip value (0.0-1.0) Raises: ValueError: If grip value control not init

Set on change callback (thread-safe).

Set callback for Play Policy button. Args: callback: Callback function to call when button is clicked

Set policy RGB image (thread-safe). Raises: RuntimeError: If policy inputs are locked (during execution).

Set policy state input (thread-safe). Raises: RuntimeError: If policy inputs are locked (during execution).

Set RGB image (thread-safe).

Set callback for Run and Execute Policy button. Args: callback: Callback function to call when button is clicked

Set callback for Run Policy button. Args: callback: Callback function to call when button is clicked

Set callback for Execute Policy button. Args: callback: Callback function to call when button is clicked

Set target gripper open value (thread-safe). Args: value: float - target gripper open value

Set target pose from a 4x4 transformation matrix. Args: transform: 4x4 transformation matrix

Set trigger value display. Args: value: Trigger value (0.0-1.0) Raises: ValueError: If trigger value control

Solve inverse kinematics for current target. Args: dt: Integration time step (uses instance default if None). Returns:

Update controller transform visualization. Args: transform: 4x4 transformation matrix or None

Update target gripper position. Args: gripper_open_value_delta: Gripper open value delta normalized (-1.0 to 1.0).

Update gripper status display. Args: trigger_value: Trigger value (0.0 = open, 1.0 = closed) robot_enabled: Whether r

Update joint angles display. Args: joint_config: Joint angles in radians show_gripper: Whether to show gripper joints

Update target joint angles with relative deltas. Args: joint_deltas: Change in joint angles [dj1, dj2, dj3, dj4, dj5, dj6] in deg

Update target position with relative deltas. Args: linear_delta: Change in position [dx, dy, dz] in millimeters angul

Update target/goal frame visualization. Args: transform: 4x4 transformation matrix or None

Update task parameters dynamically. Args: position_cost: Cost weight for position tracking orientation_cost: Cost wei

Update teleop status display. Args: active: Whether teleop is active

Update timing display with exponential moving average. Args: solve_time_ms: IK solve time in milliseconds

Update visualization.

Filter a new value. Args: t: Current timestamp (in seconds) x: Current noisy value Returns: Filt

Filter a new transform. Args: t: Current timestamp (in seconds) transform: Current 4x4 transformation matrix

Cleanup when object is destroyed.

r"""Create task. Args: cost: Vector of cost values, can be a single value to be applied to all joints :math:`[\ma

Initialize the Pink IK solver. Args: urdf_path: Path to the URDF file end_effector_frame: Name of the end effector fr

Initialize the robot controller. Args: can_interface: CAN interface for robot communication (default: 'can0') robot_r

Initialize GUI robot control. Args: can_interface: CAN interface for robot communication robot_rate: Robot control lo

Initialize the movement monitor. Args: history_size: Number of samples to use for moving average position_threshold:

Initialize ControllerState with default values.

Initialize TeleopState with default values.

Initialize RobotState with default values.

Initialize IKState with default values.

Initialize CameraState with default values.

Initialize DataManager with default values.

Initialize the visualizer. Args: urdf_path: Path to URDF file for robot visualization

Initialize PolicyState with default values.

Initialize 1€ Filter. Args: t0: Initial timestamp (in seconds) x0: Initial value min_cutoff: Minimum cuto

Initialize 1€ Filter for transforms. Args: t0: Initial timestamp (in seconds) transform: Initial 4x4 transformation m

Human-readable representation of the task.

Called when home button is pressed.

Called when control mode is changed.

Called when stop/resume button is pressed.

Add robot control buttons (enable, disable, emergency stop). Note: For homing functionality, use add_homing_controls() instead.

Add robot status display controls.