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- GhostHand: extracts gripper collision meshes from MuJoCo model, merges into single trimesh, renders as transparent overlay in the EE frame. Generic — works for any gripper body prefix. - TeleopPanel(PanelBase): Viser TransformControls gizmo + GUI (activate/deactivate, snap to EE, toggle gripper, record, safety mode dropdown). Drives TeleopController.set_target_pose() from gizmo on_update callback. - on_sync steps the controller and updates ghost pose each frame.
- Ghost mesh is now a child of the gizmo scene node — moves automatically when the gizmo is dragged, no manual pose updates - Gizmo scale 0.15 → 0.3 for easier interaction
The gizmo callback runs in Viser's thread and can't safely touch MuJoCo data. Now the callback only buffers the target pose, and a background thread at ~30Hz calls controller.step() + viewer.sync(). The thread starts on activate and stops on deactivate.
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Summary
GhostHand: extracts gripper collision meshes from MuJoCo model, merges into single trimesh, renders as transparent overlay in EE frame. Generic — works for any gripper body prefix.TeleopPanel(PanelBase): Viser TransformControls gizmo + GUI (activate/deactivate, snap to EE, toggle gripper, record, safety mode dropdown)on_update→controller.set_target_pose()(thread-safe)on_syncsteps the controller and updates ghost pose each frameDepends on mj_manipulator#47.
Test plan