Teleop and monitoring are systems that we've built ourselves and are pretty happy with. Since we use MuJoCo for simulation/visualization and some kinematics subroutines, to visualize, I just keep the MuJoCo GL context open after rendering and then throw all of our sensor data into it - it's very performant and low latency!
We've since introduced a message-bus layer that makes it possible to do it all over the internet etc, but adds the associated serialization and transport latency.
We've since introduced a message-bus layer that makes it possible to do it all over the internet etc, but adds the associated serialization and transport latency.