Robot Window (Operator)

robot_window

Robot operator window.

Overview

In the screenshot above, the left column provides high-level control actions and status indicators, while the right column renders a live 3D view of the robot in Rayrai. The bottom of the control column contains joystick selection and logs.

Layout

  • Top-left controls: power and motor buttons with connection status and battery voltage.

  • Motion commands: set home, joint test, stand up, and sit down actions.

  • Controller loading: blind/vision locomotion buttons and auto mode toggle.

  • Command source: manual or autonomy joystick selection with a dropdown source list and listen indicator.

  • Joystick scale: sliders for forward and yaw rate range limits.

  • Log panel: real-time GUI log output.

  • Visualization: Rayrai view with optional actuator and sensor overlays, plus warnings for hot actuators or motor faults.

Controls and Indicators

  • Power/motor buttons call turn_on, turn_off, init_motor, and stop_motor services with safety confirmations when needed.

  • Controller buttons call load_controller for blind_locomotion or vision_locomotion.

  • Auto mode toggle calls load_plugin for path_planning when the required controller is loaded.

  • Listen controls route joystick commands using set_listen and display the active source.

  • Visualizer settings (gear icon) toggle actuator and sensor overlays.

Data Sources and Services

  • Status is driven by robot_state, module_list, and joy_range.

  • Log output is sourced from gui_message.

  • describe_robot provides metadata for the window title and status.

  • set_joy_range updates the joystick scaling sliders.

Notes

  • Temperature warnings use actuator_hot_criteria from GUI parameters.

  • The visualization overlay highlights actuator and sensor states; disable overlays if you need a clearer camera view.