almond_axol.teleop

1. A lag-compensated low-pass filter on the raw poses.
2. An IK solve, in a separate process so it never blocks the asyncio event loop.
3. Exponential smoothing of the IK output.
4. A trapezoidal velocity and acceleration limit.

from almond_axol.teleop import VRTeleop, VRTeleopConfig

import asyncio
from almond_axol.robot import Axol
from almond_axol.teleop import VRTeleop

async def main():
    async with VRTeleop(Axol()) as teleop:
        await teleop.run()  # blocking; Ctrl+C to exit

asyncio.run(main())

VRTeleop(
    robot: RobotBase,
    *,
    config: VRTeleopConfig | None = None,             # None: teleop.* shared settings
    kinematics_config: KinematicsConfig | None = None, # None: kinematics.* shared settings
    vr_server_config: VRServerConfig | None = None,    # None: vr_server.* shared settings
    jelly: Jelly | None = None,
)

async with VRTeleop(axol) as teleop:
    while True:
        left_q, right_q = teleop.step()  # returns latest smoothed (8,) arrays
        # ... custom logic ...
        await asyncio.sleep(1 / 120)

async with VRTeleop(axol) as teleop:
    teleop.set_video_sources({"overhead": cam})
    await teleop.run()

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VRTeleopConfig fields

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Control loop and filtering

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Engage and reset

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Box mode

• every box_* live setting is hidden,
• box_mode starts off, with a warning,
• VRTeleopCore.set_box_mode(True) raises ValueError.

• Left and right change the grip width. Right is wider.
• Forward and back move the elbows. Forward is farther apart.
• A click toggles between the two grasps.

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The squeeze

• Squeeze force (box_squeeze_force) caps the clamp force per arm, at any pose. Try 8 N. Whatever it is set to, the clamp stays under about 31 N a side, the most the wrists can press evenly at the default box_wrist_torque.
• Squeeze lean (box_squeeze_lean) yaws each gripper inward about 1.3° per centimetre of clamp depth, so the tip and root of the gripper press evenly. Raise it if the tip lifts as you squeeze. Lower it if the face near the wrist lifts.
• Squeeze trim (box_squeeze_trim) adds inward yaw from the measured gripper angle until each face sits parallel to the box. It corrects for backlash and flex that the lean doesn’t model, and acts only once the pair has held still for 0.3 s.
• Squeeze cap (box_squeeze_torque) is a hard torque cap on the two shoulder joints. It also slows any move toward the other arm, so the pair can skew. Leave it at 0 unless you need it.

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Mantis

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Engage behavior

• From rest, press both grips together to engage both arms.
• Once engaged, a grip click toggles its arm between tracking and frozen. A frozen arm holds its pose and grasp while the other keeps tracking.
• With hold_to_engage, an arm tracks only while its grip is held, from rest too. Releasing the grip freezes that arm. If tracking stops while a grip is held, release it once before it engages again.
• The reset button moves both arms back to the rest pose. The move avoids self-collision when KinematicsConfig.self_collision is on, and otherwise stays within joint limits.
• In box mode, turning box mode on engages the pair, led by box_lead_hand. From a frozen pair, a single grip engages both arms again, and that controller leads.

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Re-engaging

• "clutch": the arm stays put, and the controller’s current pose becomes the new origin.
• "ramp": the arm keeps the controller-to-arm mapping from its previous engage and blends to where that mapping puts the controller. The blend is paced by reengage_ramp_speed, takes at least reengage_ramp_min_s, and follows a moving hand.

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Live settings