TwinTeleop

TwinTeleop is the telemetry and evaluation layer for robot teleoperation digital twins, distilled from production teleoperation experience (multi-axis manipulator telemetry at <30 ms latency budgets, Three.js digital-twin visualization).

What it does:

1. Binary telemetry frames (src/telemetry.py): compact little-endian frames carrying multi-axis joint positions (rad) and torques (N·m), microsecond timestamps, and CRC16 integrity checks, designed for WebSocket ArrayBuffer transport.
2. Replay utilities (src/replay.py): recorded frame streams -> per-joint time series, plus a deterministic fixed-Hz replay schedule a transport layer can follow.
3. WebSocket replay server (src/stream.py): a stdlib-only RFC 6455 server streaming recorded frames at fixed Hz to digital-twin front ends.
4. Deterministic evaluation harness (src/evaluate.py): VerifyGate-style PASS/FAIL scoring of replayed trajectories (timestamp monotonicity, frame gaps, torque limits, joint-velocity limits, optional target pose) with an auditable evidence record — same frames + same thresholds always produce the same verdict.
5. Model assessment (src/model_assist.py): the harness verdict is sent at runtime to an NVIDIA open model — nvidia/NVIDIA-Nemotron-3-Nano-30B-A3B — served on Nebius Token Factory, which returns a plain-language narration of the verdict and the next action. The model narrates; it never decides. A real recorded call (HTTP 200, 714 tokens) is documented in NEBIUS_RUNTIME_CALL.md in the repo.

Why it matters for Physical AI: robot policies and world models need a neutral, reproducible referee for trajectory quality — not another model's opinion. TwinTeleop's verdicts are deterministic and replayable, and the LLM layer only explains them.

Tests: 21/21 passing, verified in an isolated copy. License: MIT. Honest scope: this is a from-scratch portfolio re-implementation; it contains no proprietary code or data. ROS 2 / Isaac Sim integration is in progress and is not claimed as delivered.

Built With

• nebius-token-factory
• nvidia-nemotron
• pytest
• python
• three.js-digital-twin
• websocket