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cristhianandClaude Opus 5 5ce83ae945 docs: simplify the README and record the pad layout
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Details 
The README carried a lot of rationale that AGENTS.md already holds; what is
left is the tables a consumer wires against. It gains the swept axis and
button indices, and says plainly that the axes check themselves at runtime
and the buttons cannot.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
 2026-09-16 18:06:12 -03:00
cristhianandClaude Opus 5 f7257ab903 update dataflow-gamepad to drive the arm instead of the bench 
It now runs joy, teleop and dora-ulite6 with the probe declared and the
console shut, so a pad can be checked against the arm that will actually
move. ROBOT_IP in both arm dataflows points at the bench arm.

The run recipe drops dora up + dora start: dora 1.0.1 refuses to start a
dataflow holding git: nodes from a coordinator, reporting that no build was
run straight after one that succeeded. That costs the file dora topic, which
needs a coordinator to read the wire.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
 2026-09-16 18:06:12 -03:00
cristhianandClaude Opus 5 d0f884c7e2 fix gamepad layout and refuse a pad whose axes disagree 
An Xbox One S pad over Bluetooth numbers its controls differently from the
indices this node shipped with: the right stick is on axes 2 and 3, the
triggers on 4 and 5, and the buttons carry gaps at 2 and 5. Against the old
layout an untouched pad reported a resting trigger as full right-stick
deflection, which asked for 30 deg/s of pitch while lying on the desk, held
the lease for ever so GAMEPAD_IDLE_RELEASE_S never fired, and moved a real
arm into a controller error. X toggled freedrive and LB was the E-STOP, so
the resulting latch could not be released from the pad at all.

Layout now carries the swept indices. Each pad is also measured the first
time it is seen at rest: a stick must rest near centre and a trigger near
the bottom of its travel, and a pad that does not fit reads as absent and is
named in the log rather than driving an arm from a numbering nobody checked.
The measured rest becomes each axis's zero, so a worn stick's tilt is
subtracted rather than deadzoned away and a trigger that reads 0 until it
first moves stops reading as half pressed.

Rest is never re-measured while the pad is in use, because doing that under
a held stick would record the deflection as centre and the arm would move
when the operator let go. The probe drives from the same calibration, so
what it prints is still what the arm would get, and it shows the mismatch.

Tests name their controls through axes_for and buttons_for instead of
numbering them; the positional lists are why a wrong index passed a green
suite.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
 2026-09-16 18:06:06 -03:00
3 changed files with 464 additions and 86 deletions
Expand all files Collapse all files
README.md
+247 -63
View File
@@ -1,86 +1,174 @@
# dora-teleop # dora-teleop
dora-rs teleoperation node: normalises two control sources — a gamepad read from A dora-rs node that hands a robot arm to a human. Pick up a gamepad and move the arm, or
`dora-joy`, and a web console served by this node itself — into one owner's lease, and open a browser and move it from there — one of the two at a time, decided here.
emits velocity set-points and robot-agnostic commands. It carries no hardware driver: pad
I/O lives in `dora-joy`, arm I/O in a robot node.
**Requirements:** dora 1.0+ (verified with `dora-cli 1.0.1`), Python 3.12+, `uv`. It drives [`dora-ulite6`](https://gitea.liria.cl/liria/dora-ulite6) through that node's
`jog` and `request` ports, reads the pad from
[`dora-joy`](https://gitea.liria.cl/liria/dora-joy), and serves the browser console itself
on one port. It contains no robot driver and no gamepad driver: it is the piece in the
middle that decides what the arm should be doing, and it touches no hardware at all.
## System **Requirements:** dora 1.0+ (verified with `dora-cli 1.0.1`), Python 3.11+ and `uv`.
```mermaid ## The gamepad
flowchart LR
pad([gamepad]) --> joy
browser([browser]) -- "ws: held directions, verbs" --> web
web -- "ui_state snapshot" --> browser
joy["dora-joy — sibling repo"]
subgraph teleop["dora-teleop"]
web["web console — built in, HTTP + ws on one port"]
core["command arbitration"]
end
joy -- "joy: axes, buttons, present" --> core
web -- "held directions, ±1" --> core
core -- "twist SI · command verbs (standard)" --> arm
core -- "jog · request (deprecated)" --> arm
arm -. "state · poses · response" .-> core
arm["robot node"]
```
## Quick start | Control | Does | Units |
|-------------|----------------------------------------------|-------|
| Left stick | Move along X (up/down) and Y (left/right) | mm/s |
| Triggers | Lift on the right, lower on the left | mm/s |
| Right stick | Roll (left/right) and pitch (up/down) | deg/s |
| Bumpers | Yaw, left and right | deg/s |
| A | Close the tool | — |
| B | Open the tool | — |
| X | Release the E-STOP and clear the arm's error | — |
| Y | Toggle freedrive | — |
| Back | **E-STOP** — latches until X | — |
Up on the stick sends the arm away from you, along **+X** in the base frame — the same
convention the console uses, so the two agree.
**Back latches.** It stops the arm, tells the controller to stop, and keeps the arm still
no matter what the sticks do. **X is the only way out**, and it does both halves: releases
the latch here and clears the error on the controller. Neither button is gated on the
lease — an idle pad hands the arm back two seconds after the stop it just made, and a
latch you must first take the arm back to release is a trap.
`home` is deliberately **not** on the pad. It is a large unattended motion and belongs
behind a deliberate click.
### The layout
These are the indices an Xbox One S pad reports **over Bluetooth**, swept one control at a
time. They are not universal — the same pad on USB numbers its buttons differently — so a
pad that disagrees is an edit to `Layout` in `dora_teleop/mapping.py`, not a new
environment variable. It lives here rather than in `dora-joy` because `dora-joy` does not
know what a button is *for*, which is what makes it reusable.
| Control | Axis | Control | Button |
|----------------------|------|------------------|--------|
| Left stick X / Y | 0, 1 | A — grasp | 0 |
| Right stick X / Y | 2, 3 | B — release | 1 |
| Left / right trigger | 4, 5 | X — clear | 3 |
| | | Y — freedrive | 4 |
| | | LB / RB — yaw | 6, 7 |
| | | Back — E-STOP | 11 |
**Sweep a new pad before the arm is powered.** The axes check themselves and the buttons
cannot:
- **Axes.** Every pad is measured once, on the first reading in which it is sitting still.
A stick must rest near centre and a trigger near the bottom of its travel; an axis
resting anywhere else means the numbering is wrong, something is being held, or the pad
is broken. All three read as **no pad** until it rests, and the log names the axis. A
trigger read as a stick asks for full speed while lying untouched on the desk, so a pad
this node has never seen still never gets the arm.
- **Buttons.** An unpressed button reads the same on every pad, so a wrong button index is
silent until it fires. That is not hypothetical: on this pad, against the indices this
node shipped with, X toggled freedrive and LB was the E-STOP.
That same measurement makes a worn stick harmless — its resting tilt becomes its zero, so
the tilt is **subtracted** rather than deadzoned away and the travel left still reaches
full speed. A trigger that reads 0 until it first moves, rather than SDL's −1, is handled
the same way instead of reading as half pressed.
### Checking your pad
```bash ```bash
uv sync source .venv/bin/activate
dora run dataflow.yml --uv # teleop + bench stand-in: no pad, no arm dora build dataflow-gamepad.yml
dora run dataflow-gamepad.yml
uv run dora-teleop-probe # in another terminal
``` ```
Open `http://localhost:7000` and drive the robot from the console. The bench answers The probe prints the raw axes, the buttons it sees and the velocity this node would send,
services and publishes telemetry so the loop closes. live, from the same `joy` stream the node reads. **It cannot move anything** — it attaches
as a dynamic node, publishes nothing and never talks to the arm.
### Watching the wire ```text
axes (6 reported)
0 left stick X +0.600 ----------|-----#----
1 left stick Y -0.800 --#-------|----------
4 left trigger -1.000 #---------|----------
buttons (17 reported)
7:yaw right
Every dataflow sets `debug: enable_debug_inspection: true`, so dora can inspect the wire velocity this would send to the arm
without any node printing. This needs a coordinator, so it works for the arm-free dataflow: vx +38.89 mm/s forward / back <--
vy +23.53 mm/s left / right <--
wz +30.00 deg/s yaw <--
```bash moving: yes
dora up asking for the arm: yes
dora start dataflow.yml --uv --name teleop-bench
dora topic list -d teleop-bench # every edge in the graph
dora topic echo -d teleop-bench teleop/jog # every velocity, live
dora topic hz -d teleop-bench teleop/jog --duration 10 # the re-send cadence
dora stop --name teleop-bench && dora down
``` ```
## Running with hardware Two things to look for: an axis marked `unused` that moves when you push a stick, and a
bar that does not sit centred with the stick released. It goes through the same
`velocity()` the node runs, so what it prints is what the arm would be sent.
| Dataflow | Nodes | Needs | For a pad whose numbering is not known at all, `dora-joy-probe` in the `dora-joy` repo
|------------------------|--------------------------------------|--------------------| needs no dataflow.
| `dataflow.yml` | teleop + bench stand-in | nothing |
| `dataflow-robot.yml` | joy + teleop + ulite6 | a pad and an arm |
| `dataflow-gamepad.yml` | the same, plus the probe, no console | a pad and an arm |
## Gamepad ## Speaking to any robot
| Control | Does (base frame) | Index | Units | Both control sources are reduced to a **normalised** six-vector — `[-1, 1]` per degree of
|----------------------|----------------------------------------------------------------|--------------|-------| freedom, a fraction of full speed — and only then scaled, in one function. The gamepad
| Left stick X / Y | Translate in the horizontal plane: `+X` stick up, `+Y` stick right | axes 0, 1 | mm/s | reaches that vector through the deadzone and the response curve, which correct a worn
| Left / right trigger | Translate along Z: right trigger lifts (`+Z`), left lowers | axes 4, 5 | mm/s | physical stick; the browser sends it already clean.
| Right stick X / Y | Rotate: `+roll` stick right, `+pitch` stick up | axes 2, 3 | deg/s |
| LB / RB | Yaw: RB is `+yaw` | buttons 6, 7 | deg/s |
| A | Close the tool | button 0 | — |
| B | Open the tool | button 1 | — |
| X | Release the E-STOP and clear the arm's error | button 3 | — |
| Y | Toggle freedrive | button 4 | — |
| Back | **E-STOP** — latches until X | button 11 | — |
The sticks move the arm in its horizontal X/Y plane only; the triggers are the one path That is what lets one node and one console drive a robot in mm/s and one in m/s. `twist`
to Z. Up on the stick sends the arm away from the operator, the same `+X` convention the is SI, because that is what a UR or MoveIt takes; configuration stays in mm/s and deg/s,
console draws. because `60 mm/s` is a number a person reading a dataflow can judge. `command` carries
verbs rather than service names — `gripper_close`, not `grasp` — so swapping a vacuum for
a two-finger gripper needs no change at either end.
## Inputs and outputs The full contract, including the reserved `joint_jog` port, is in the vault at
`resources/robotics/teleop-contract.md`.
## The lease
Two sources, one arm. Whoever holds the lease drives; the other is ignored.
- The **gamepad takes it implicitly**, the first time a stick moves, if nobody holds it.
- It **gives it back** after `GAMEPAD_IDLE_RELEASE_S` untouched, so a pad left on the
bench does not lock the browser out.
- The **browser takes it explicitly** with TAKE CONTROL and returns it with RELEASE. It
can preempt: an operator who can see the arm is better placed than this code to decide.
- **E-STOP is never gated**, from either source, held lease or not.
**The lease binds only what goes through this node.** `dora-ulite6` has no idea it exists,
so another node publishing `request` will preempt an operator mid-motion.
## The deadman
An arm under a velocity command keeps moving until told otherwise. Four layers, each
shorter than the one behind it — a backstop that fires first backs up nothing:
| Layer | Setting | Default |
|--------------------------|-------------------------------------|---------|
| Held velocity repeated | `JOG_KEEPALIVE_S` (teleop) | 0.2 s |
| Pad reading goes stale | `JOY_TTL_S` (teleop) | 0.2 s |
| Owner goes quiet | `JOG_TTL_S` (teleop) | 0.4 s |
| Jog sender goes quiet | `VELOCITY_COMMAND_TTL_S` (ulite6) | 0.5 s |
`JOY_TTL_S >= JOG_TTL_S` stops the node at startup rather than failing quietly later. The
last layer is enforced by `dora-ulite6` whether or not this process is alive.
A pad reporting itself gone, or the last browser disconnecting, stops the arm
**immediately** without waiting out any timer: an unplugged pad is not a centred pad. On
shutdown the node sends one all-zero velocity, because a motion lives in the controller
rather than in this process.
**What goes on the wire is the change.** A velocity is a set-point the arm holds, so one
is sent when it *changes* and otherwise repeated only every `JOG_KEEPALIVE_S`. Repeating
every tick made a real xArm re-plan the same motion twenty times a second, which reads as
stepping. The stop is sent **once** — a stream of zeroes keeps `dora-ulite6` believing a
jog is live. A change never waits for the repeat.
## Ports
| Direction | Name | Description | | Direction | Name | Description |
|-----------|----------------|--------------------------------------------------------| |-----------|----------------|-------------------------------------------------------|
| in | `tick` | 50 ms — change detection, deadman, telemetry | | in | `tick` | 50 ms — change detection, deadman, telemetry |
| in | `joy` | One pad reading from `dora-joy` | | in | `joy` | One pad reading from `dora-joy` |
| in | `response` | An answer from the arm | | in | `response` | An answer from the arm |
@@ -94,10 +182,16 @@ console draws.
| out | `request` | *Deprecated.* A service call, `request_id` in metadata | | out | `request` | *Deprecated.* A service call, `request_id` in metadata |
| out | `ui_state` | The console's telemetry snapshot, as JSON | | out | `ui_state` | The console's telemetry snapshot, as JSON |
Wire `twist` **or** `jog`, never both — they carry the same intent, and a robot reading
both is driven twice. Same for `command` and `request`.
The browser is not on this table: it reaches the node over the node's own HTTP and
WebSocket port rather than through the dataflow, so there is nothing to wire for it.
## Environment variables ## Environment variables
| Variable | Default | Description | | Variable | Default | Description |
|--------------------------|-----------|--------------------------------------------------------| |--------------------------|----------|--------------------------------------------------------|
| `SPEED_MM_S` | `60.0` | Translation speed at full deflection | | `SPEED_MM_S` | `60.0` | Translation speed at full deflection |
| `SPEED_DEG_S` | `30.0` | Rotation speed at full deflection | | `SPEED_DEG_S` | `30.0` | Rotation speed at full deflection |
| `DEADZONE` | `0.12` | Stick travel near centre to ignore | | `DEADZONE` | `0.12` | Stick travel near centre to ignore |
@@ -108,7 +202,93 @@ console draws.
| `GAMEPAD_IDLE_RELEASE_S` | `2.0` | Untouched pad before it hands the arm back | | `GAMEPAD_IDLE_RELEASE_S` | `2.0` | Untouched pad before it hands the arm back |
| `STATE_POLL_S` | `0.5` | How often to ask the arm what telemetry does not carry | | `STATE_POLL_S` | `0.5` | How often to ask the arm what telemetry does not carry |
| `WEB_HOST` | `0.0.0.0`| Address the console binds to | | `WEB_HOST` | `0.0.0.0`| Address the console binds to |
| `WEB_PORT` | `7000` | Console port; `0` opens no port at all | | `WEB_PORT` | `7000` | Console port; **`0` opens no port at all** |
A value that cannot be read, or one that breaks the deadman order, stops the node at
startup rather than the first time somebody picks up the pad. `JOYSTICK_INDEX` moved to
`dora-joy` along with the pad.
## Running it
| Dataflow | Nodes | Needs |
|-------------------------|------------------------------|-----------------|
| `dataflow.yml` | teleop + bench stand-in | nothing |
| `dataflow-robot.yml` | joy + teleop + ulite6 | a pad and an arm |
| `dataflow-gamepad.yml` | the same, plus the probe, console shut | a pad and an arm |
```bash
dora run dataflow.yml --uv # no pad, no arm, browser path only
source .venv/bin/activate # a real arm: see the --uv note below
dora build dataflow-robot.yml # clones and installs both siblings
dora run dataflow-robot.yml
```
`dataflow.yml` is self-contained on purpose — it resolves from this checkout alone, which
is what lets CI validate it. The bench answers services and publishes telemetry but is
**not a simulator**: it never integrates a velocity or moves a pose.
Set `ROBOT_IP` and `TOOL_TYPE` to match the arm in front of you. `INIT_MODE` is `none`, so
nothing moves until somebody pushes a stick. The console comes with the node — open
`http://<that machine>:7000` for the same arm the pad drives, under the same lease.
**`--uv` does not work for a dataflow with `git:` nodes** (dora 1.0.1): each is installed
into a venv inside its own clone, while the spawner resolves entrypoints from the
dataflow's venv, and the run fails with `Could not find source path dora-joy within uv`.
Build into one activated environment instead, as above; it needs `pip`
(`uv pip install pip`). **`dora start` refuses them outright** — "node joy has git source,
but no `dora build` was run yet", straight after a build that succeeded — so use
`dora run`, which also means `dora topic` is unavailable for those two dataflows.
`dora` type-checks a dataflow before fetching a `git:` source, so it cannot read the arm's
manifest. The `output_types:` block on the `ulite6` node repeats what `dora-ulite6` v0.3.1
annotates — re-check it when moving to a newer tag.
### Watching the wire
Every dataflow sets `debug: enable_debug_inspection: true`, so dora will let you read the
wire without any node printing it. This needs a coordinator, so it works for the
arm-free dataflow:
```bash
dora up
dora start dataflow.yml --uv --name teleop-bench
dora topic list -d teleop-bench # every edge in the graph
dora topic echo -d teleop-bench teleop/jog # every velocity, live
dora topic hz -d teleop-bench teleop/jog --duration 10 # the re-send cadence
dora stop --name teleop-bench && dora down
```
## The console
`dora_teleop/web/index.html` is the browser half: two analog rings, a lift lane and a yaw
lane, plus gripper, freedrive, home, the lease buttons and E-STOP over a telemetry
readout. Plain HTML with no build step — a console you cannot fix without a toolchain is
the wrong thing to have between a person and a robot.
It is laid out like the arm's own pendant: each ring is quartered into sectors you hold,
with the out-of-plane axis as a pair of pills above it — the same shape and the same
directions as xArm Studio's jog control at `:18333`.
| Ring | Sectors | Pills above |
|-----------|------------------------------------------------------------|---------------|
| translate | `+X` north, `−X` south, `Y+` **west**, `Y−` east | `−Z` `+Z` |
| rotate | `+pitch` north, `−pitch` south, `−roll` west, `+roll` east | `−yaw` `+yaw` |
**`Y+` is on the left**, matching xArm Studio and the right-hand rule with `+X` away from
the operator and `+Z` up. Two consoles that disagree about which way is `+Y` is a trap.
The node serves the page and holds the WebSocket on `/ws` of the same port, so there is
one URL and nothing to keep in step. That runs on its own thread and meets the control
loop at two non-blocking points only, because a browser that stops reading must never
stall the thread that stops the arm. **The browser's deadman is the socket itself** — the
last one closing releases the lease and stops the arm.
Directions are held, not analog: speed comes from the dial, and each held direction is a
separate pointer, so two fingers work at once. The page re-sends its jog every 150 ms
against the node's 400 ms deadline, and sends a **fraction of full deflection**, never a
speed, so it never learns the robot's units. Controls are dimmed and inert unless the
console holds the lease. If `WEB_PORT` is taken the node **refuses to start**.
## Development ## Development
@@ -118,3 +298,7 @@ uv run pytest # 149 tests, no gamepad, arm, browser or daemon needed
uv run ruff check . uv run ruff check .
uv run ruff format --check . uv run ruff format --check .
``` ```
Every file here is testable without hardware, because there is no hardware. `tests/` names
its controls (`axes_for`, `buttons_for`) rather than numbering them — a test that numbers
its axes goes on passing while meaning something else once a pad renumbers them.
pyproject.toml
+2 -2
View File
@@ -6,8 +6,8 @@ readme = "README.md"
license = { text = "MIT" } license = { text = "MIT" }
authors = [{ name = "Liria" }] authors = [{ name = "Liria" }]
# dora-rs 1.0 requires 3.11; this node standardises on 3.12. # dora-rs 1.0 requires 3.11; the node uses PEP 604 unions and zip(strict=).
requires-python = ">=3.12" requires-python = ">=3.11"
# No hardware dependency. The pad is `dora-joy` and the arm is `dora-ulite6`; # No hardware dependency. The pad is `dora-joy` and the arm is `dora-ulite6`;
# this node decides, and serves the console that asks it to. # this node decides, and serves the console that asks it to.
uv.lock
Generated
+196 -2
View File
@@ -1,6 +1,10 @@
version = 1 version = 1
revision = 3 revision = 3
requires-python = ">=3.12" requires-python = ">=3.11"
resolution-markers = [
"python_full_version >= '3.12'",
"python_full_version < '3.12'",
]
[[package]] [[package]]
name = "aiohappyeyeballs" name = "aiohappyeyeballs"
@@ -27,6 +31,24 @@ dependencies = [
] ]
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