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Viser Control Interface

Location: examples/control_with_viser/

Browser-based 3-D viewer and teleop interface for i2rt robots, powered by viser. Open the viewer in any browser — no native viewer required, no display attached to the robot.

Hardware Required

  • None for simulation (--sim flag)
  • 1× YAM / YAM Pro / YAM Ultra / big_yam arm + CANable adapter for real hardware

Overview

The interface starts in read-only mode. The robot accepts no commands until the operator visually confirms alignment and clicks Enable Robot. Once enabled, three control modes are available:

VIS mode (default):
  Robot joint states  ──►  Browser viewer  (read-only mirror)

IK mode:
  Drag transform gizmo  ──►  mink IK solver  ──►  Command arm

Joint-slider mode:
  Per-joint sliders (deg)  ──►  Command arm directly

A gripper slider (normalised 0–1) is always available, independent of the arm mode.

Running

Simulation

# YAM arm + linear_4310 gripper (default)
python examples/control_with_viser/control_with_viser.py --sim

# big_yam arm with the soft-tip gripper
python examples/control_with_viser/control_with_viser.py --arm big_yam --gripper flexible_4310 --sim

# Custom port (multiple instances on one machine)
python examples/control_with_viser/control_with_viser.py --sim --port 8090

Real Hardware

python examples/control_with_viser/control_with_viser.py --channel can0
python examples/control_with_viser/control_with_viser.py --arm big_yam --gripper linear_4310 --channel can0

Open http://localhost:8080 (or whichever --port you chose) in your browser.

Arguments

Argument Default Description
--arm yam Arm type: yam, yam_pro, yam_ultra, big_yam, no_arm
--gripper linear_4310 Gripper: linear_4310, linear_3507, crank_4310, flexible_4310, yam_teaching_handle, no_gripper
--channel can0 CAN interface name (real hardware only)
--sim off Use simulation instead of real hardware
--dt 0.02 Control loop timestep in seconds
--port 8080 Viser server port
--site auto EE site name. Auto-detects grasp_site (or tcp_site for yam_teaching_handle) when omitted.

Enabling the Robot

  1. Open the viewer URL printed on launch.
  2. Verify the rendered pose matches the physical robot.
  3. Tick Alignment Confirmed.
  4. Click Enable Robot.

The robot only starts responding to slider / IK input after step 4.

Teaching-Handle Indicators

When running with --gripper yam_teaching_handle, two on-screen LEDs mirror the leader-arm buttons:

  • SYNC — top button, latches arm-sync on/off.
  • RECORD — second button, user-programmable (commonly bound to recording).

MuJoCo vs Viser

Feature MuJoCo Viser
Display Native window Browser (any client)
Multi-user Local only Multiple browsers can connect to one server
IK target Drag in 3-D scene Drag transform gizmo
Per-joint sliders Yes (CONTROL mode) Yes (Joint-slider mode)
Safety gate None Read-only until "Enable Robot"
Best for Local debugging Remote / headless robot, browser-only setups

See Also