Connect to robot hardware and setup ZMQ sockets

Establish VR connection - optimized version

Decode video frame from message. Args: message: Decoded video message Returns: Raw JPEG frame data or None i

Encode an arm joint control command. Args: arm: Arm identifier (e.g., "left", "right") joint_index: Joint index (0-ba

Encode a camera position command. Args: position: Camera position [x, y, z] target: Optional camera target [x, y, z]

Encode a move command. Args: direction: Movement direction (forward, backward, left, right, etc.) speed: Movement spe

Ensure SSL certificates exist, generating them if necessary. Args: cert_path: Path to certificate file key_path: Path to

Extract pitch rotation around X-axis from relative quaternion rotation.

Extract roll rotation around Z-axis from relative quaternion rotation.

* Removes excluded text from a Node. * * @param {Node} target Node to filter. * @param {string} exclude CSS selector of nodes to exclude. * @retur

* Removes excluded text from a Node. * * @param {Node} target Node to filter. * @param {string} exclude CSS selector of nodes to exclude. * @retur

Load configuration from environment variables. Args: env_file: Optional path to .env file to load Returns: S

Automatically generate self-signed SSL certificates if they don't exist. Args: cert_path: Path where to save the certificate fil

returns a tuple like `(vendor_id, product_id, serial_number)`

returns a list of tuple like `(vendor_id, product_id, serial_number)`

returns a tuple like `(vendor_id, product_id, serial_number)`

returns a list of tuple like `(vendor_id, product_id, serial_number)`

Get base action from XBOX controller input - simplified to only forward/backward and rotate.

Get base speed control from XBOX controller - LB for speed decrease, RB for speed increase. Returns speed multiplier (1.0, 2.0, or 3.0) and p

Get latest camera frame as base64 string. Returns: Base64 encoded JPEG frame or None if unavailable

获取电流

returns a list of tuples like `(vendor_id, product_id, serial_number)`

Get current event status

Get base control commands from Joy-Con for differential drive X: left turn, B: right turn, Y: forward, A: backward

Get base control commands from Joy-Con for differential drive X: left turn, B: right turn, Y: forward, A: backward

Get base control commands from Joy-Con X: forward, B: backward, Y: left turn, A: right turn

Get speed control from Joy-Con - linear acceleration and deceleration Linearly accelerate to maximum speed when holding any base control butt

Get the local IP address of this machine.

Get the local IP address of this machine.

Get the local IP address of this machine.

获取位置(圈数)

Get the full ZeroMQ address for robot data channel.

Get the target x, y position at time t for the rectangular trajectory. Args: current_x: Starting x position

Get the target x, y position at time t for the rectangular trajectory. Args: current_x: Starting x position

Get video frame from robot's virtual cameras using correct camera API

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

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

Handle individual command (compatible with unified protocol)

Handle left Joy-Con directional pad input to control head motors

Handle left Joy-Con directional pad input to control head motors

Handle left Joy-Con directional pad input to control head motors

Handle movement command with proper stop handling

Import xlevr modules

Import xlevr modules

导入xlevr模块

Initialize VR listener, providing the same interface as init_keyboard_listener Used to replace keyboard event listening, used in record.py

Initialize VR monitor

Initialize ManiSkill simulation (main thread only for OpenGL safety)

交互式控制

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