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.

Commands and mode

teleop.command("estop");        // also: "reset_latch" | "reset"
teleop.setArm("left");          // switch which arm is driven
teleop.toggleMode();            // cylindrical <-> per-joint

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