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Secure WebSocket server (WSS) that receives VRFrame JSON messages from the VR app. A self-signed TLS certificate is auto-generated in ~/.almond/vr/certs/ on first use. This module can be used standalone to read raw VR data without full teleoperation — useful for custom control loops or data collection. 
from almond_axol.vr import VRServer, VRServerConfig

import asyncio
from almond_axol.vr import VRServer, VRServerConfig

async def main():
    async with VRServer(VRServerConfig(port=8000)) as vr:
        while True:
            frame = vr.get_frame()
            if frame is not None:
                print(frame.l_ee, frame.r_ee)
            await asyncio.sleep(0.01)

asyncio.run(main())
Or use a callback instead of polling: 
def on_frame(frame):
    print(frame.l_grip, frame.r_grip)

async with VRServer() as vr:
    vr.set_on_frame(on_frame)
    await asyncio.sleep(float("inf"))

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VRFrame fields

FieldTypeDescription
l_ee / r_eeVRPose6-DOF end-effector pose (position + quaternion)
l_elbow / r_elbowVRPosition3D elbow positions
l_grip / r_gripfloat [0, 1]Gripper commands
l_lock / r_lockboolDeadman switches
resetboolRising edge triggers a reset move
stateVRStateTELEOP, DATA_COLLECTION, or RECORDING (headset-driven); SAVING and ERROR are server-pushed only

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Server → headset feedback

The server can push a state override to all connected headsets at any time using VRServer.broadcast_text(). The headset interprets messages of the form {"type": "state", "value": "saving"} as a state override that blocks recording controls. {"type": "state", "value": "error"} shows an error indicator in the headset UI. {"type": "state", "value": "data_collection"} re-enables controls after saving. The AxolVRTeleop.send_feedback_state(state) helper wraps this for all VRState values.

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VRServerConfig fields

FieldDefaultDescription
port8000WSS listen port
certfileautoPath to TLS certificate; None uses the auto-generated cert
keyfileautoPath to TLS private key
Before opening the VR app, accept the self-signed certificate by navigating to https://<hostname>.local:8000 in the VR browser and proceeding past the security warning.