A class to represent the kinematics of a SO101 robot arm. All public methods use degrees for input/output.

High-level control goal message sent from input providers.

The robot includes a three omniwheel mobile base and a remote follower arm. The leader arm is connected locally (on the laptop) and its joint

VR control information monitor

Main configuration class for the teleoperation system (VR-only).

The robot includes a two-wheel differential drive mobile base and a remote follower arm. The leader arm is connected locally (on the laptop)

WebSocket server for VR controller input.

A class for controlling a robot arm using VR input with delta action control. This class provides inverse kinematics-based arm control w

A class for controlling a robot arm using VR input with delta action control. This class provides inverse kinematics-based arm control w

A class for controlling a robot arm using VR input with delta action control. This class provides inverse kinematics-based arm control w

State tracking for a VR controller.

VR控制信息监控器

A specialized class based on PythonicJoyCon which tracks the gyroscope data and deduces the current rotation of the JoyCon. Can be used to cr

A lightweight recorder for LeRobot dataset v3 format

Generates a rectangular trajectory on the x-y plane with sinusoidal velocity profiles. The rectangle is divided into 4 line segments, each wi

Generates a rectangular trajectory on the x-y plane with sinusoidal velocity profiles. The rectangle is divided into 4 line segments, each wi

Unified remote control core for all robot types.

Simplified HTTPS server for providing web interface

Simplified HTTPS server for providing web interface

简化的HTTPS服务器，用于提供网页界面

A class for controlling robot head motors using VR thumbstick input. Provides simple head movement control with proportional control for

A class for controlling robot head motors using VR thumbstick input. Provides simple head movement control with proportional control for

A class for controlling robot head motors using VR thumbstick input. Provides simple head movement control with proportional control for

Smooth arm controller with acceleration/deceleration for the first three joints

Simplified smooth base controller with acceleration/deceleration

Simplified smooth base controller with acceleration/deceleration for differential drive

Simplified smooth base controller with acceleration/deceleration for differential drive

VR event handler, specifically handles recording control events Use left VR controller to replace keyboard control

VR control information monitor

Simple ManiSkill simulation host with remote control capability

Four-wheel mecanum (X roller layout) mobile base and remote follower arms. Body frame: x forward (m/s), y to the left (m/s), theta CCW (deg/s

Host for XLerobot2Wheels that runs on the robot hardware. Receives commands via ZMQ and sends them to the robot. Sends observations back