Software Usage
This section provides a detailed guide on how to use the TeleXperience VR APP, the motion capture suit, and walks you through the entire process of teleoperation and data collection using the built-in demo.
If this is your first time, please read and watch all the tutorials in this section.
Once you're familiar, you can refer directly to the CheatSheet.
Introduction to Houou TeleXperience APP
Watch the following video to get familiar with the interface and interaction logic of the TeleXperience VR APP.
Motion Capture Suit: Calibration & Usage
Enabling motion capture is not required to run the demo—you can complete the demo without it.
However, with motion capture enabled, you can experience the null-space optimization for 7-DOF robotic arms.
If your target robot arm has 6 or fewer degrees of freedom, you can skip this section and go straight to the demo.
Enabling Motion Capture
In VR, click START MOCAP. If the blue avatar on the right starts moving, motion capture is active.
Suit Calibration
If the blue avatar's movements don't match your real movements, please calibrate the suit.
Before calibrating, turn on the VR headset's audio and set it to a comfortable volume to hear the voice prompts.
| Standard Calibration | Pro Calibration | ||||||||
|---|---|---|---|---|---|---|---|---|---|
On the left panel, make sure LOWER BODY and GLOVE are unchecked. After clicking START MOCAP, click AUTO CALIB to start calibration.
Follow the voice prompts and demonstration exactly: | On the left panel, make sure LOWER BODY and GLOVE are checked. After clicking START MOCAP, click AUTO CALIB to start calibration.
If you're not wearing the lower body suit, you can leave LOWER BODY unchecked.
Follow the voice prompts and demonstration exactly: | ||||||||
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VR & Suit Joint Calibration (Optional)
Joint calibration between the VR headset/controllers and the motion capture suit is optional. It does not affect teleoperation, but improves visualization. If you plan to develop further based on mocap signals, you may want to perform joint calibration.
| Head Joint Calibration | Controller Joint Calibration | ||||||||
|---|---|---|---|---|---|---|---|---|---|
After enabling mocap, click CALIB VR HEAD. | After enabling mocap, click CALIB VR CONTROLLER. | ||||||||
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Out-of-the-Box Demo: OpenLoongVuer
To let you experience teleoperation right away without needing a physical robot, we've developed a demo environment in Vuer using the OpenLoong robot.
Starting Vuer
Prepare a laptop to open the Vuer web page. Any OS is fine as long as it can connect to Wi-Fi and browse the web.
- Connect your laptop to the teleoperation device's Wi-Fi.
- Open your browser and go to http://10.42.0.3:8012
If the Vuer web page lags, try using a laptop with a better GPU.
Controlling the Robot
You can now control the OpenLoong robot in Vuer via teleoperation:
| Standard | Pro |
|---|---|
Data Collection
| Standard | Pro |
|---|---|
Trajectory Playback
You can replay the robot's trajectory from collected data. Note: During playback, the robot in VR will not move; please view the playback in the Vuer web page.
CheatSheet
| Command | Standard | Pro |
|---|---|---|
| Enable Motion Capture | Press START MOCAP in VR | |
| Enable Teleoperation | Press START TELEOP in VR | |
| VR View Calibration | Hold the calibration button Note: Once sync starts, you cannot recalibrate the VR view. To recalibrate, stop sync first, calibrate, then start sync again. | |
| Start Sync | After enabling teleop, short press the right controller A button | After enabling teleop, roll the right foot outward to resume |
| Stop Sync | After enabling teleop, short press the right controller B button | After enabling teleop, roll the right foot inward to resume |
| Control Arm | After sync, the robot arm follows the VR controller | After sync, the robot arm follows your hand |
| For 7-DOF null-space optimization, enable mocap and align your arm with the robot's before starting sync. | ||
| Lock Arm End Pose | After sync, hold the left controller trigger | After sync, roll both feet outward and hold |
| Lock Arm End Position | After sync, hold the right controller trigger | After sync, roll both feet inward and hold |
| Control End Effector | After sync, hold the controller side trigger | After sync, the dexterous hand follows your fingers |
| Control Chassis | After sync, move the left controller joystick | After sync, Lift left heel and hold: move forward Lift left toe and hold: move backward Twist left foot left and hold: turn left Twist left foot right and hold: turn right |
| Control Torso | After sync, move the right controller joystick | After sync, Lift right toe and hold: move up Lift right heel and hold: move down |
| Control Head | After sync, wear the VR headset to control the robot's head movement | |
| Reset Robot to Teleop Zero | Push both joysticks outward and hold for 1 second | Twist both feet outward and hold for 1 second |
| Start Data Recording | After sync, short press the left controller X button | After sync, roll the left foot inward to resume |
| Finish & Save Data Recording | After sync, short press the left controller Y button | After sync, roll the left foot outward to resume |
| Discard & Delete Data Recording | After sync, long press the left controller Y button for 2 seconds | After sync, roll the left foot outward and hold for 2 seconds, then resume |
| Switch to Transparent Mode | Press both controller joysticks simultaneously | |