Documentation Teleoperation Quick Start
The operator controls both arms with controllers (or data gloves) while viewing a first-person view in the VR headset; multi-camera video and joint data are recorded at the same time. The teleoperation software is pre-installed on the edge AI computer and the VR headset.
Step 1: Leave the shipping pose (first time only)
The robot ships in a packing pose. After the first power-on, move to the teleoperation start pose in three stages.
| State | Left arm joint angles (°) | Right arm joint angles (°) |
|---|---|---|
| 1. Packing pose (connect in impedance mode) | 90, −90, 0, 0, 0, 0, 0 | −90, −90, 0, 0, 0, 0, 0 |
| 2. Zero position (move with MoveJ) | 0, 0, 0, 0, 0, 0, 0 | 0, 0, 0, 0, 0, 0, 0 |
| 3. Teleoperation start pose (Home) | 97, −63, −63, −114, −21, 7, 31 | −97, −62, 63, −114, 21, 7, −31 |
Step 2: Initialize cameras and start services
- Run the camera initialization script on the edge AI computer (required after every boot).
- Start all services in the teleoperation software and select “Teleoperation” as the input mode.
Step 3: Connect and set up the VR headset
- Connect one end of a LAN cable to ETHERNET1 on the electrical box and the other, through a LAN–USB Type-C adapter, to the port on the left side of the headset.
- Turn off Wi-Fi on the headset (wired connection recommended).
- Check the battery level of the headset and both controllers (charge or replace below 20%).
- Put on and start the headset, then open the teleoperation app from “Unknown sources” in the library.
- In the settings screen, enter the operator height and the robot IP address (6.6.7.100), then save.
- When the virtual arms appear in front of you, press the Y button on the left controller to start teleoperation.
Pre-operation checklist
- Emergency stop, controller power, communication cables, USB drive and headset battery are all normal.
- Switch to standby mode when not operating, to prevent accidental motion.
- Stop immediately if the headset battery runs out or power is lost unexpectedly.