Use P control to return to start position Args: robot: Robot instance start_positions: Start joint positions dictionary

Use P control to return to start position Args: robot: Robot instance start_positions: Start joint positions dictionary

Use P control to return to start position Args: robot: robot instance start_positions: start joint position dictionary

Use P control to return to start position Args: robot: Robot instance start_positions: Start joint positions dictionary

Use P control to return to start position Args: robots: Robot instance dictionary {'arm1': robot1, 'arm2': robot2} start

Use P control to return to start position Args: robot: Robot instance start_positions: Start joint positions dictionary

Save configuration to YAML file.

Command lekiwi to move to a target joint configuration. The relative action magnitude may be clipped depending on the configuration parameter

Send feedback - optimized version, reduce blocking wait

Setup proportional control gains

Setup SSL context for WebSocket server.

Setup xlevr environment

Setup xlevr environment

设置xlevr环境

开始监听手柄输入

Start monitoring VR control information

Stop monitoring

Stop monitoring

Update smooth control and return base action

Update client state after successful command

Update control action using P controller (skip base movement)

Calculate current yaw angle from quaternion

Check key states using GLFW directly from viewer window

Update quaternion-based rotation tracking.

Update quaternion-based rotation tracking using quaternion data directly.