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6. Command Screen

The Command screen is where you’ll spend most of your time with HARP during teleoperation. It brings together:

  • Session Information
  • Camera Feeds
  • Event Stream
  • Macros
  • Command Bar (stop/recording/input scaling)

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6.1 Session Information​

This panel presents live telemetry for both the leader (your Haply handle/input) and the follower (robot):

  • Handle Orientation & Buttons — Live orientation of the wireless handle and which buttons (if any) are pressed. Information of the orientation lock Enabled/Disabled
  • Hover: Handle/Grip Area — Displays detailed 3D input data (position and velocity).
  • Robot Arm State — Live robot position and orientation.
  • Hover: Robot Section — Shows joint angles and joint velocities.
  • Robot Arm State — Live robot position and orientation.
  • Hover: Robot Section — Shows joint angles and joint velocities.
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Use this panel to understand what component is moving and where it is located within the workspace at any moment.

6.2 Camera Feeds​

The Camera Feeds panel lets you open streams from USB cameras and choose from available devices.

  • Start a stream and optionally rotate or flip the image.
  • Pop‑out the stream to a separate window to maximize on another display.

6.3 Event Stream​

The Event Stream panel provides a running log of session activity, warnings, and errors.

  • Use it to diagnose issues, crashes, or unexpected robot behavior.
  • Combine with the timestamp in Session Information when reviewing recorded sessions.

6.4 Macros​

Macros allow you to trigger recorded motions directly from the command screen.

  • Click a macro to edit or delete it (e.g., replace its recording or update its name).
  • Use Add Macro (right side) to add a new button, this will be saved to the project and loaded each time
  • Pressing a macro’s Play button prompts for confirmation before execution (a safety guard against accidental activation).

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6.5 Command Bar​

Your active session controls:

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  • Stop — A large Stop button (right side) halts session interactions immediately. Press Esc to trigger Stop from the keyboard.
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The ESC key on your keyboard will activate the STOP as well.

  • Input Scaling — Sets how far the follower moves relative to the leader:
    • 100%: Leader 5 cm → Follower 5 cm
    • 50%: Leader 5 cm → Follower 2.5 cm
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Begin with a lower input scale when first operating a new robot or tool, then increase as confidence grows.

  • Axes Lock — Lock any axis of the Robot by pressing “X”, “Y” and/or “Z” on your keyboard. Lock any orientation axis of the Robot by pressing “Shift + X”, “Shift + Y” and/or “Shift + Z” on your keyboard.

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  • Recording — Start Recording captures follower data during operation. End Recording saves the recording to your project’s folder structure.

During Recording
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  • Playing a Macro — Pause button becomes available to pause or end a macro playback. (Pause will not interrupt an immediate set of commands.)

During Macro Playback

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At Pause

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  • Unlock Axes — For safety, if HARP is not the main focus window in teleoperation, the robot axes movement will be locked preventing any movement of the robot.