Arm Recorder GUI — 14-DOF Joint-Space Trajectory Animator

control LowCmd_ @ 50 Hz joints 14 arm + 3 waist gains kp=60 / kd=1.5 topic rt/arm_sdk

A desktop GUI to dial, record, and replay multi-joint arm trajectories on the G1's two 7-DOF arms — full position/velocity/torque/stiffness streaming over DDS. The recordings become training data for a continuous arm policy.

Dial, record, and stream 14 arm and 3 waist joints simultaneously at 50 Hz over CycloneDDS.
Hardware startup seeding reads live encoder telemetry from rt/lowstate to prevent zero-snap.
Real-time kinematic mirroring flips chiral axes to command symmetrical dual-arm motions.

Phone Side · G1 Arm

PC Side · Arm Recorder GUI

Live 50 Hz Joint-Space Teleoperation — Physical Unitree G1 7-DOF arm matching commanded joint targets in real time over CycloneDDS.

01Low-Level DDS Streaming

Commanded joint angles ramp smoothly each tick to prevent motor acceleration spikes.
Startup seeding initializes sliders from live encoder positions to prevent zero-snap on connect.

02Operator Safety & Ergonomics

Zero-gain damp mode allows compliant hand-guided physical teaching on the hardware.
Chiral mirroring inverts roll and yaw axes to copy left arm recordings to the right arm.

Phone Side · Trajectory Replay

PC Side · Multi-Joint Playback

Trajectory Playback — Physical G1 arm replaying recorded keyframe joint angles smoothly without jerk.

03Continuous Policy & Coordinated Execution

Export trajectories as standardized 25 fps joint-space keyframe arrays.
Trained MLP regression model interpolates continuous arm poses across arbitrary vector inputs.

Phone Side · Multi-Pose Replay

PC Side · Velocity Scaling GUI

Velocity Scaling & Multi-Pose Replay — Coordinated multi-joint trajectory execution with interactive velocity scaling and timeline scrubbing.