Driving the robot

Two input paths — both ride the same wire. The daemon's jog → IK → clamp → motor path is identical regardless of source, so neither is privileged over the other.

Keyboard

Hand key events to the client. See keybindLegend(mode) for the live key map — it changes with the control mode, so render it rather than hardcoding a table.

window.addEventListener("keydown", (e) => { if (teleop.onKeyDown(e)) e.preventDefault(); });
window.addEventListener("keyup",   (e) => teleop.onKeyUp(e));

Programmatic jog

Push normalized rates in [-1, 1] per DOF. The SDK streams them at 50 Hz.

teleop.setExternalJog({
  right_arm: { shoulder_pan: 0.5, elbow_flex: -0.3 },
  right_lift: 0.2,        // per-arm lift velocity
});
teleop.setExternalJog(null); // stop

Keep the frames coming

Jog is a stream, not a fire-and-forget command. If your control frames go silent past the watchdog thresholds, the robot slows and then stops on its own. That's the watchdog doing its job — see the safety contract.

Base

The mobile base rides the same jog stream under the base group, as normalized rates with REP-103 signs: +linear drives forward, +angular turns LEFT (counter-clockwise). Emit that convention and nothing else — never negate client-side:

teleop.setExternalJog({ base: { linear: 0.4, angular: -0.2 } }); // forward, turning right

The L2 exception is handled for you

The frozen L2 fleet's firmware turns opposite on angular and can never be updated, so the SDK flips that one sign on the wire for a positively-matched L2 only (resolved from ack.model, else the signaling room's fleet serial). Your code stays sign-blind either way. For an L2 living in a room the auto-detection can't classify — a non-fleet dev room — pass baseSigns: "l2-legacy" to RemoteTeleop; everything else is already the default ("rep103"), and an unknown serial never resolves to the legacy branch.

Omitting the base group in a jog means stop, never "hold the last velocity".

Commands and mode

teleop.command("estop");        // also: "reset_latch" | "reset"
teleop.setArm("left");          // switch which arm is driven
teleop.toggleMode();            // task-space <-> per-joint (label reads "cartesian" on
                                // robots advertising jog_scale.task, "cylindrical" otherwise)

Robots that advertise `descriptor.jog_scale.task` get a cartesian task keymap
(`taskKeymapFor(descriptor)` returns `CARTESIAN_TASK_KEYS`: x/y/z translation, pitch, `yaw`
— the canonical angular-z verb; `shoulder_pan` is its deprecated alias — plus wrist roll and
gripper). Robots without it keep the legacy keymap byte-for-byte, so older units behave
identically.

Absolute moves

To command a joint to a position rather than a rate — and find out whether it actually got there — tag the move with an action id and await the daemon's verdict. See Action completion.

Teardown

await teleop.stop();            // tells the robot to restart cleanly, tears down the peer