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Application Robot Configuration

Switching/Adding a New Robot​

If TeleXperience already supports your robot, refer to the Switching Robots section to switch to your robot's configuration.

If you want to add a new robot configuration, please prepare:

  1. A robot configuration file in .zip format, with the following internal structure:
{RobotName}/
|- mesh/
|- urdf
|- vr_configs.yml
|- controller_v2.yml (optional)
|- mocap_to_robot_command_v2.yml (optional)
  1. An industrial PC ROS node, which should be deployed either:
  • On the robot's main controller. Record the controller's IP and connect TeleBox to the robot. See Switching Robots for connection details.
  • If deployment on the main controller is not possible, use an additional computer. Connect the extra computer, robot, and TeleBox (with a dynamic IP) via a network switch.

Connect your personal computer to the TeleXperience system Wi-Fi and visit http://10.42.0.3:7876:

At the bottom of the page, go to Advanced Settings -> Robot Management -> Upload New Robot -> Select and upload your robot's zip file -> Done -> Refresh the page.

Communication Configuration​

Connect your personal computer to the TeleXperience system Wi-Fi and visit http://10.42.0.3:7876:

  1. At the top, click Create New Configuration -> Enter a name (recommended format: RobotName_ROS1/2) -> Select the robot you just uploaded -> Confirm
  2. Communication Protocol: Choose ROS1 or ROS2
    • For ROS1: Enter the Robot IP (ROS1), which is the IP of the ROS1 master (could be the robot controller or an extra computer)
    • For ROS2: Enter the domain_id for DDS, matching your robot's requirements (default is 0 if unsure)
  3. Interaction IP configuration: This is the IP of TeleBox's interaction port/dynamic IP port
    • Set the interaction IP to any IP in the same subnet as the robot IP (but not identical). Use 255.255.255.0 as the subnet mask, and set the gateway to an IP in the same subnet (commonly ending with .1, but not the same as robot or interaction IP)
    • Note: If using the 10.42.0.x subnet, avoid these reserved IPs: 10.42.0.1 (router), 10.42.0.2 (TeleSuit), 10.42.0.3 (TeleBox). VR uses a dynamic IP, which you can check via the router's web interface at 10.42.0.1
  4. Click Apply to save your configuration.

Changing Data Collection Rules​

TeleXperience provides data collection services. You can configure which ROS topics to record.

Connect your personal computer to the TeleXperience system Wi-Fi and visit 10.42.0.3:7876:

  1. Message Rules: For built-in source messages, you can choose whether to record them. If enabled, the system will check for these messages during data collection and alert you if any are missing. For details, see Understanding TeleXperience.
  2. TeleXperience also supports recording other standard ROS message types you publish. In Message Rules -> Custom Messages -> Edit:
    • For ROS2: Add a custom message, select the message type (only supported types are listed), enter your topic name, and save.
    • For ROS1: Add a mapping, select the message type, enter your topic name, specify the storage name for the topic, and save.
  3. Click Apply to save your changes.

Configuring VR Image Sync Windows​

TeleXperience supports image synchronization. To display your robot's perception images in VR, publish them as ROS1 or ROS2 CompressedImage messages with the following specs:

  • Supported resolutions: 1920x1080, 1440x1080, 1280x720, 960x720, 640x480
  • Supported frame rates: 30fps, 15fps, 10fps

Steps:

  1. As described above, add all image topics as custom messages.
  2. In the camera view topic section, select the topic, resolution, and frame rate. Encoding: JPEG is default; for 1080P, H264 is recommended.
  3. In the layout section, choose your preferred image layout. The numbers correspond to camera indices and match the topic numbers.
  4. Click Apply to save your configuration.

Configuring End Effectors​

Connect your personal computer to the TeleXperience system Wi-Fi and visit http://10.42.0.3:7876. Go to the end effector configuration section:

End Effector Selection

Selection Guide:

  • To control a dexterous hand with a motion capture glove, select the matching model from the list.
  • If you use a gripper or only want to control the hand open/close with the VR controller trigger, select "None" here.