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Welcome to the phospho Junior dev kit's documentation.

Welcome!

How to control the robot arm with API calls.

Simple controls

How to control the robot arm with a Meta Quest 3

Teleoperation

How to leverage vision models for robotics.

Computer vision

Initialize the robot to its initial position before starting the teleoperation.

Initialize Robot

Update the robot position based on the received teleoperation data.

Teleoperation Control

High frequency control of the robot arm via WebSocket connection for real-time updates and commands.

Teleoperation Control (WebSocket)

Move the robot to an absolute position specified by the end-effector.

Move to Absolute Position

Start automatic control of the robot using OpenVLA model outputs.

Start Automatic Control

Stop Automatic Control

Retrieve the position, orientation, and open status of the robot's end effector.

Read End-Effector Position

Read the current torque of the robot's joints.

Read Torque

Enable or disable the torque of the robot.

Toggle Torque

Read the current positions of the robot's joints in radians and motor units.

Read Joint Positions

Move the robot's joints to the specified angles.

Write Joint Positions

Start the calibration sequence for the robot.

Calibrate Robot

Page with an overview of the connected cameras. Open this page in the chrome browser: http://localhost:80/viz

Cameras overview

Stream video feed of the specified `camera_id`.

Video Feed For Camera

Returns the depth feed from the realsense camera.

Video Feed For Depth

Asynchronously start recording an episode in the background.
Same output format as OpenVLA.

Getting Started

Examples

API Reference

Learn

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