Decode response message from robot host. Args: raw_data: Raw bytes received from robot Returns: Decoded mess

Add CORS headers to all responses.

Add CORS headers to all responses.

Add CORS headers to all responses.

Convert Euler angles in degrees to quaternion [x, y, z, w].

Execute a blocking rectangular trajectory on the x-y plane. Args: robot: Robot instance to send actions to

Execute a blocking rectangular trajectory on the x-y plane. Args: robot: Robot instance to send actions to

Finalize the dataset by saving metadata

前进

Get robot capabilities. Returns: Dictionary of capability flags

Get current joint positions (reuse mapping logic)

returns a list of tuples like `(vendor_id, product_id, serial_number)` arg: lr : str : put `R` or `L`

Return the latest VR control goal if available, else None. Args: arm: If specified ("left" or "right"), return that arm's

Get the current joint positions from the robot and map them correctly to the target joints. The mapping is: - full_joints[0,2] → cur

Get the current joint positions from the robot and map them correctly to the target joints. The mapping for single arm control (10 joint

Get the current joint positions from the robot and map them correctly to the target joints. The mapping is: - full_joints[0,2] → cur

Get the current joint positions from the robot and map them correctly to the target joints. The mapping is: - full_joints[0,2] → cur

Get the current joint positions from the robot and map them correctly to the target joints. The mapping is: - full_joints[0,2] → cur

Get the current joint positions from the robot and map them correctly

Get the current joint positions from the robot and map them correctly to the target joints. The mapping is: - full_joints[0,2] → cur

Get the full ZeroMQ address for robot command channel.

Get current robot state

Get current robot state. Returns: Current robot state dictionary

Get base control commands from VR input. Args: vr_goal: VR controller goal data containing metadata robot: Robot instanc

Get VR event status (high-performance version - use cache to avoid repeated VR data acquisition)

Map XBOX controller state to semantic action booleans using the provided keymap.

Handle grip release for a controller.

Handle Joy-Con input, update arm control - based on 6_so100_joycon_ee_control.py

Handle Joy-Con input, update arm control - based on 6_so100_joycon_ee_control.py

Handle Joy-Con input, update arm control - based on 6_so100_joycon_ee_control.py

Handle VR input with delta action control - incremental position updates. Args: vr_goal: VR controller goal data

Handle VR input with delta action control - incremental position updates. Args: vr_goal: VR controller goal data

Handle VR input with delta action control - incremental position updates. Args: vr_goal: VR controller goal data

Calculate inverse kinematics for a 2-link robotic arm, considering joint offsets Parameters: x: End effector x coordinate

Calculate inverse kinematics for a 2-link robotic arm, considering joint offsets Parameters: x: End effector x coordinate

Calculate inverse kinematics for a 2-link robotic arm, considering joint offsets Parameters: x: End effector x coordinate

Send movement command to robot. Args: direction: Movement direction (forward, backward, left, right, etc.) speed: Mov