Robot Window (Developer)

robot_dev_window

Robot developer window.

Overview

In the screenshot above, the top row is split into three columns: controls and IMU on the left, 3D visualization in the center, and actuator/joystick widgets on the right. The bottom row contains plugin management, joystick routing, and a live log console.

Layout

  • Left column: connection indicators, power/motor actions, home selection, stand/sit controls, IMU readout, and controller selection.

  • Center column: Rayrai visualization with voltage/current/temperature bars.

  • Right column: actuator table (position, velocity, effort, temperature, status) and joystick scaling sliders.

  • Bottom row: plugin list with load/unload, joystick interface routing, and log output.

Controls and Indicators

  • Connection indicators show transport type (TCP/WEB), online state, and robot state.

  • Home selection prompts for main or portable home before calling set_home_with_type.

  • Controller list highlights the currently loaded controller and provides a load button.

  • Plugin table shows instance lists and load/unload actions.

  • Joy interface lets you switch between manual and autonomy sources and send the set_listen command.

Data Sources and Services

  • robot_state, module_list, and joy_range feed telemetry and UI state.

  • gui_message populates the log console.

  • describe_robot provides software version and metadata.

  • Control services include turn_on, turn_off, init_motor, stop_motor, stand_up, sit_down, joint_test, load_controller, and load_plugin.

Notes

  • The developer window uses the same safety checks as the operator window but exposes more raw controls and plugin state.

  • Use the plugin table to manage multiple instances and unload unused plugins to reduce compute load.