feat: Zenoh-native web dashboard, camera streaming & teleop#48
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cagataycali wants to merge 2 commits intostrands-labs:devfrom
Open
feat: Zenoh-native web dashboard, camera streaming & teleop#48cagataycali wants to merge 2 commits intostrands-labs:devfrom
cagataycali wants to merge 2 commits intostrands-labs:devfrom
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- Add Zenoh-native web dashboard (strands_robots/dashboard/server.py) - Real-time peer discovery, joint state gauges, camera feeds - HuggingFace model search with autocomplete - Keyboard teleop (WASD), E-STOP, command dispatch - WebSocket + HTTP server with live event log - Enrich Zenoh mesh with camera streaming & event publishing - publish_event() for discrete mutations (object/robot add/remove) - publish_camera_frame() + start_camera_stream() background thread - Rich state: joints, objects, cameras, world metadata - Dashboard command routing: execute, stop, teleop_start/stop/delta - Simulation improvements - _invalidate_renderers() after model recompile (fixes stale cameras) - teleop_delta() for real-time joint nudging from dashboard - Defensive _pad4() in MJCF builder for short color/orientation lists - Auto-detect first robot when robot_name not specified - _publish_event() on every scene mutation - Robot camera streaming support - _render_camera_jpeg_b64() for real robot camera frames - start_camera_stream() over Zenoh mesh
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Summary
Adds a real-time web dashboard for monitoring and controlling robots via the Zenoh mesh, plus enriches the mesh layer with camera streaming and event publishing.
Changes
🖥️ Web Dashboard (
strands_robots/dashboard/)🔗 Zenoh Mesh Enrichment (
zenoh_mesh.py)publish_event()for discrete mutations (object/robot add/remove)publish_camera_frame()+start_camera_stream()background thread🎮 Simulation Improvements
_invalidate_renderers()after model recompile (fixes stale cameras)teleop_delta()for real-time joint nudging from dashboard_pad4()in MJCF builder for short color/orientation listsrobot_namenot specified_publish_event()on every scene mutation📷 Robot Camera Streaming
_render_camera_jpeg_b64()for real robot camera framesstart_camera_stream()over Zenoh meshTesting