Add VR joystick support

README.md

@@ -35,6 +35,19 @@ A simple interface that prints the teleop responses. You can use it as a referen
 python3 -m teleop.basic
 ```
 
+### xArm
+
+Interface to teleoperate the [uFactory Lite 6](https://www.ufactory.cc/lite-6-collaborative-robot/) robot.
+Minor changes are probably necessary to support other xArm robots.
+
+```bash
+python3 -m teleop.xarm
+```
+
+Note that the interface is very simple, it doesn't implement any kind of filtering.
+Therefore, you probably want to teleoperate it with a device with high frequency.
+Smart phones are typically 30fps while VR joysticks 90fps which is much more preferable for teleoperation without filtering.
+
 ### ROS 2 Interface
 
 The ROS 2 interface is designed primarily for use with the [cartesian_controllers](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers) package, but it can also be adapted for [MoveIt Servo](https://moveit.picknik.ai/main/doc/examples/realtime_servo/realtime_servo_tutorial.html) or other packages.

examples/webots/controllers/inverse_kinematics/inverse_kinematics.py

@@ -16,16 +16,16 @@ def __init__(self):
             self.__jacobi = JacobiRobot(file.name, ee_link="wrist_3_link")
 
         # Initialize the arm motors and encoders.
-        timestep = int(self.getBasicTimeStep())
+        self.timestep = int(self.getBasicTimeStep())
         for joint_name in self.__jacobi.get_joint_names():
             motor = self.getDevice(joint_name)
             motor.setVelocity(1.0)
             position_sensor = motor.getPositionSensor()
-            position_sensor.enable(timestep)
+            position_sensor.enable(self.timestep)
             self.__motors[joint_name] = motor
 
     def move_to_position(self, pose):
-        self.__jacobi.servo_to_pose(pose)
+        self.__jacobi.servo_to_pose(pose, dt=self.timestep / 1000.0)
         for name, motor in self.__motors.items():
             motor.setPosition(self.__jacobi.get_joint_position(name))
 
@@ -40,7 +40,7 @@ def get_current_pose(self):
 
 def main():
     robot = RobotArm()
-    teleop = Teleop()
+    teleop = Teleop(natural_phone_orientation_euler=[0, 0, 0])
     target_pose = None
 
     def on_teleop_callback(pose, message):

examples/webots/worlds/.teleop.wbproj

@@ -1,5 +1,5 @@
-Webots Project File version R2023b
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000000000000000000000010000012400000391fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000003910000008900ffffff0000000300000d7000000042fc0100000002fb0000000e0043006f006e0073006f006c00650100000000000006900000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000d700000006900ffffff00000d70000004f000000001000000020000000100000008fc00000000
+Webots Project File version R2025a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000000000000000000000010000012400000391fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000003910000008900ffffff00000003000004f400000039fc0100000002fb0000000e0043006f006e0073006f006c00650100000000000006900000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000004f40000006900ffffff000004f40000017800000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000133000006470100000002010000000100
 sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000200
 maximizedDockId: -1

examples/webots/worlds/teleop.wbt

@@ -1,13 +1,14 @@
-#VRML_SIM R2023b utf8
+#VRML_SIM R2025a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/CementTiles.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/Floor.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/universal_robots/protos/UR5e.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/tables/protos/Table.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/CementTiles.proto"
 
 WorldInfo {
+  basicTimeStep 10
 }
 Viewpoint {
   orientation 0.12086428145072244 0.9228327289041858 -0.36574797324476627 0.6877052442483729

setup.py

@@ -16,25 +16,25 @@
 
 setup(
     name="teleop",
-    version="0.0.9",
-    packages=["teleop", "teleop.basic", "teleop.ros2", "teleop.utils", "teleop.ros2_ik"],
+    version="0.1.0",
+    packages=["teleop", "teleop.basic", "teleop.ros2", "teleop.utils", "teleop.ros2_ik", "teleop.xarm"],
     long_description=long_description,
     long_description_content_type="text/markdown",
     description="Turns your phone into a robot arm teleoperation device by leveraging the WebXR API",
     install_requires=[
-        "Flask",
-        "Flask-SocketIO",
+        "fastapi",
+        "uvicorn[standard]",
         "numpy",
         "transforms3d",
-        "werkzeug",
         "pytest",
         "requests",
+        "websocket-client",
     ],
     extras_require={
         "utils": ["pin"],
     },
     package_data={
-        "teleop": ["cert.pem", "key.pem", "index.html"],
+        "teleop": ["cert.pem", "key.pem", "index.html", "teleop-ui.js"],
     },
     license="Apache 2.0",
     author="Spes Robotics",