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Application Robot Configuration

Switching/Adding a New Robot​

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

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

  1. A robot configuration .zip file with the following structure:
{RobotName}/
|- mesh/
|- urdf
|- vr_configs.yml
|- controller_v2.yml (optional)
|- mocap_to_robot_command_v2.yml (optional)
  1. An industrial PC ROS node deployed:
  • On the robot's main controller. Record the robot's main controller IP and connect TeleBox to the robot. Refer to the Switching to a New Robot section for connection details.
  • If the ROS node cannot be deployed on the robot's main controller, deploy it on an additional computer and connect the additional computer, robot, and TeleBox via a switch.

Connect your personal computer to the TeleXperience system's Wi-Fi and access the configuration interface at http://10.42.0.3:7876:

Navigate to Advanced Settings -> Robot Management -> Upload New Robot -> Select the corresponding .zip file -> Complete -> Refresh the page.

Communication Configuration​

Connect your personal computer to the TeleXperience system's Wi-Fi and access the configuration interface at http://10.42.0.3:7876:

  1. At the top of the page, click New Configuration -> Enter a configuration name (recommended format: RobotName_ROS1/2) -> Select the Adapted Robot as the one 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 (robot's main controller or additional computer).
    • For ROS2, enter the Domain ID for DDS. If not specified, use the default value of 0.
  3. Interaction IP Configuration:
    • For ROS1, set the interaction IP to any IP in the same subnet as the robot's IP (must not be identical). Set the Subnet Mask to 255.255.255.0 and the Gateway to an IP in the same subnet (e.g., .1, but not identical to the robot or interaction IP).
    • For ROS2, the interaction IP can be configured freely.
    • Avoid using fixed IPs in the 10.42.0.x range, such as 10.42.0.1 (router), 10.42.0.2 (TeleSuit), and 10.42.0.3 (TeleBox). Check the router's web interface for variable IPs.
  4. Click Apply Configuration to save changes.

Modifying Data Collection Rules​

TeleXperience allows you to configure which ROS topics to record during data collection.

Connect your personal computer to the TeleXperience system's Wi-Fi and access the configuration interface at 10.42.0.3:7876:

  1. Message Rules: For built-in source messages, toggle the Record option to enable or disable recording. If enabled, the system will check for message publication during data collection and notify you of any errors. Refer to the Understanding the TeleXperience System section for details.
  2. To record additional ROS standard message types:
    • For ROS2, go to Custom Messages -> Edit -> Add a custom message -> Select the message type -> Enter the topic name -> Save changes.
    • For ROS1, go to Mapping Rules -> Add a mapping -> Select the message type -> Enter the original topic name -> Specify the mapped topic name -> Save changes.
  3. Click Apply Configuration to save changes.

Configuring VR Image Synchronization​

TeleXperience supports image synchronization in VR. Ensure your robot publishes image data in ROS1 or ROS2 CompressedImage format with the following specifications:

  • Resolutions: 1920x1080, 1440x1080, 1280x720, 960x720, 640x480
  • Frame rates: 30fps, 15fps, 10fps

Steps:

  1. Add all image topics as custom messages (refer to the previous section).
  2. In the Camera View Topic section, select the added topic, resolution, and frame rate. For encoding, use JPEG by default. For 1080P resolution, H264 is recommended.
  3. In the View Layout, choose a layout. The numbers in the layout correspond to camera IDs matching the topic numbers.
  4. Click Apply Configuration to save changes.

Configuring End Effectors​

Connect your personal computer to the TeleXperience system's Wi-Fi and access the configuration interface at http://10.42.0.3:7876. Navigate to the End Effector Configuration section:

End Effector Selection

Selection Guide:

  • To control a dexterous hand using a motion capture glove, select the matching model from the list.
  • If using a gripper or controlling the dexterous hand with the VR controller's side trigger, select None.