dora-rs teleoperation node: normalises two control sources — a gamepad read from dora-joy, and a web console served by this node itself — into one owner's lease, and 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.

System

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

uv sync
dora run dataflow.yml --uv        # teleop + bench stand-in: no pad, no arm

Open http://localhost:7000 and drive the robot from the console. The bench answers services and publishes telemetry so the loop closes.

Watching the wire

Every dataflow sets debug: enable_debug_inspection: true, so dora can inspect the wire without any node printing. This needs a coordinator, so it works for the arm-free dataflow:

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

Running with hardware

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, no console	a pad and an arm

Gamepad

Control	Does (base frame)	Index	Units
Left stick X / Y	Translate in the horizontal plane: `+X` stick up, `+Y` stick right	axes 0, 1	mm/s
Left / right trigger	Translate along Z: right trigger lifts (`+Z`), left lowers	axes 4, 5	mm/s
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 to Z. Up on the stick sends the arm away from the operator, the same +X convention the console draws.

Inputs and outputs

Direction	Name	Description
in	`tick`	50 ms — change detection, deadman, telemetry
in	`joy`	One pad reading from `dora-joy`
in	`response`	An answer from the arm
in	`motion_state`	How a motion ended
in	`robot_state`	The arm's own state
in	`tcp_pose`	Tool-tip pose, six float32, mm and degrees
in	`joint_pose`	Joint angles, six float32, degrees
out	`twist`	Standard. `{linear, angular, frame}`, SI
out	`command`	Standard. `{action, value}`, robot-agnostic verbs
out	`jog`	Deprecated. mm/s + deg/s, for `dora-ulite6`
out	`request`	Deprecated. A service call, `request_id` in metadata
out	`ui_state`	The console's telemetry snapshot, as JSON

Environment variables

Variable	Default	Description
`SPEED_MM_S`	`60.0`	Translation speed at full deflection
`SPEED_DEG_S`	`30.0`	Rotation speed at full deflection
`DEADZONE`	`0.12`	Stick travel near centre to ignore
`EXPO`	`0.4`	How much of the curve is cubic; 0 is linear
`JOG_TTL_S`	`0.4`	Owner silence before the arm is stopped
`JOG_KEEPALIVE_S`	`0.2`	How often an unchanged velocity is repeated
`JOY_TTL_S`	`0.2`	`joy` silence before the pad reads as gone
`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
`WEB_HOST`	`0.0.0.0`	Address the console binds to
`WEB_PORT`	`7000`	Console port; `0` opens no port at all

Development

uv sync --group dev
uv run pytest      # 149 tests, no gamepad, arm, browser or daemon needed
uv run ruff check .
uv run ruff format --check .