almond_axol.teleop

Connects a VR headset to the robot (or simulator) for teleoperation. IK runs in a dedicated subprocess to keep JAX off the asyncio event loop. The pipeline is: VR frames → One Euro filtering → IK solve → EMA smoothing → trapezoidal velocity profiling → motion_control().

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())

Use step() instead of run() to integrate teleoperation into your own control loop:

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)

To show camera feeds in the headset, register frame sources after the session is enabled — VRTeleop.set_video_sources() forwards them to the VR server’s WebRTC relay (requires the GStreamer NVENC stack, installed by axol gst.install; see almond_axol.vr). Each value is a connected ZedCamera (registered directly) or any object exposing width / height / fps + wait_next:

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

See the teleop CLI command for the equivalent command-line entry point (--cameras wires the ZED cameras up automatically).

set_video_sources() runs the WebRTC relay in-process. The CLI instead prefers VRTeleop.set_video_manager(), which hands the camera grab/encode and WebRTC off to a dedicated subprocess (almond_axol.video.video_proc.VideoRelayProcess) so it can’t perturb the control loops. Both deliver the same headset video — see almond_axol.vr.

`VRTeleopConfig` fields

Field	Default	Description
`frequency`	`120` Hz	Control loop rate used by `run()` and reset trajectory density
`teleop_max_vel`	`1.0 rev/s`	Trapezoidal filter velocity cap during normal teleoperation
`teleop_max_accel`	`3.5 rev/s²`	Trapezoidal filter acceleration cap
`engage_max_vel`	`0.1 rev/s`	Slower velocity limit when teleop is first engaged after a reset
`engage_duration`	`1.0` s	How long `engage_max_vel` is held before restoring `teleop_max_vel`
`ik_alpha`	`0.5`	EMA blend factor on IK output; `1.0` disables smoothing
`pose_min_cutoff`	`1.5` Hz	One Euro Filter tremor cutoff for raw VR poses
`pose_beta`	`5.0`	One Euro Filter speed coefficient (raises cutoff during fast moves)
`position_multiplier`	`1.0`	Scale on hand position (not orientation): the EE target moves this many times as far as the hand. `>1` extends reach when the arm is longer than the operator’s
`rotation_multiplier`	`1.0`	Scale on hand orientation (not position): the EE target rotates this many times as far as the hand. `>1` rotates the arm further than the wrist
`reset_speed`	`0.1 rev/s`	Average joint velocity of the worst-case joint during return-to-rest (peak is `1.5×` this)
`reset_min_duration`	`1.5` s	Floor on return-to-rest duration so near-rest starts don’t snap home
`rest_pose_left` / `rest_pose_right`	near-zero	Reset target for each arm, shape `(7,)` in `ARM_JOINTS` order

Engage toggle behaviour. Grip is a toggle, not a hold. Press both grip buttons together to enable arm movement; press either grip alone to freeze the arms. A rising edge on the reset button triggers a collision-aware trajectory back to the rest pose.

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Operations

Remote Teleop

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almond_axol.teleop

`VRTeleopConfig` fields

​VRTeleopConfig fields

`VRTeleopConfig` fields