Remote teleoperation

Driving the robot from the app's Remote page — video on screen, keyboard in your hands, robot anywhere with a network.

🚧 To write

• The connection panel. Room, token, STUN/TURN fields — what each is and when you touch it (mostly: never; they're provisioned for you).
• The keyboard legend. It's rendered live on the page and changes with the control mode, so document the modes, not a frozen key table.
• Control modes: cylindrical vs. per-joint, and why you'd switch.
• Switching arms.
• The connection chip in the nav: not connected → connecting… → connected, and what each stall means.
• Screenshots.

Modes and commands

Two control modes — cylindrical (move the gripper through space) and per-joint (drive each joint directly). Toggle between them; the key map changes with the mode, which is why the legend on the page is the source of truth rather than anything written here.

Three commands, always available:

Command	Effect
E-STOP	Trips the latch immediately. Motion blocked, motors torque-limited. Never rate-limited.
Reset latch	Clears the E-STOP and any stall latches. The only thing that clears a latch.
Reset	Returns the arms to their neutral pose. It's a motion command, so it's refused while latched.

When a joint stops but everything else keeps working

That's a stall, and it's working as designed. When a joint is pushed against something, the robot cuts torque on that joint only — everything else keeps running. Jog the stalled joint away from the obstruction and it self-clears.

A stall is deliberately not a global safety stop. See safety states.