Load environment variables from a .env file.

Parses the JSON observation string.

Parses the JSON observation string.

Parses the JSON observation string.

Background task to periodically ping the robot host.

Polls the ZMQ socket for a limited time and returns the latest message string.

Polls the ZMQ socket for a limited time and returns the latest message string.

Polls the ZMQ socket for a limited time and returns the latest message string.

Process a received command

Extracts frames, and state from the parsed observation.

Extracts frames, and state from the parsed observation.

Extracts frames, and state from the parsed observation.

Send observation via ZMQ

Low frequency event update - 10Hz frequency, reuse already acquired left_goal data Only execute when event interval time is reached,

Update cached robot state from received data.

Update cached video frame from received data.

Raw encoder velocities -> body frame. x,y in m/s; theta.vel in deg/s (CCW positive).

Convert wheel raw command feedback back into body-frame velocities. Parameters: wheel_raw : Vector with raw wheel comman

Convert wheel raw command feedback back into body-frame velocities for differential drive. Parameters: left_wheel_speed :

基础运动测试

计算左右轮速度 - 完全按照 odrive_controller.py 的逻辑

Calibrate VR controllers - optimized version

Check if client is within rate limits

Check if client is throttling commands too fast

Clean shutdown