video
Drag on the picture to look at a point. The robot solves the IK and says when a point is out of reach.
drive
W/S forward and back, A/D strafe, Q/E turn — arrows drive and turn. Full deflection is 0.3 m/s and 1.5 rad/s, the same as a gamepad's. Intents are resent at 10 Hz while anything is held: the robot stops on its own 500 ms after they stop arriving.
posture
stop zeroes the intents this session is sending. It is not a physical emergency stop — nothing here cuts power to the servos — and it is a plain button for that reason. enable toggles, so it always means "the other one" and cannot go stale.
do · sound
One request is one skill; holding play on wheee keeps the ride going, and letting go releases it.
telemetry
| mode | – |
|---|---|
| policy | – |
| loop | – |
| safety | – |
| requested | – |
| applied | – |
| health | – |
| battery | – |
| temperatures | – |
The frame is robot.subscribe at 2 Hz; the last three rows are
robot.health, polled, because none of it is on that stream.