Your biped can now get information from your remote computer and respond to joystick key presses, but you may want to be able to see what the biped sees from its webcam. This is straightforward to configure with a webcam, vncserver, and the capability you used in Chapter 6, Adding Vision to Your Biped. Using this method, you can easily get a picture of what your biped is seeing, and it should be something like the following:

Now you can both see where your robot is going and control it via a joystick.