Learn About the TeleXperience System
If you want to apply TeleXperience to your own robot and handle the adaptation process yourself, please refer to the content in this section.
The advanced development process is not covered by official after-sales support. You will need to resolve any issues encountered during the adaptation process on your own. You can submit an issue form, and we will try to provide suggestions, but we cannot guarantee response times or specific solutions.
If you encounter unsolvable problems during the adaptation process, feel free to contact your sales representative to purchase adaptation services. Our professional team will provide customized support to ensure your robot is successfully adapted.
Please also note the following limitations for self-adaptation:
- Dexterous Hand: Does not support independent movement of each finger; only simultaneous opening and closing of all fingers is supported.
- Does not support visualizing the robot model or real-time synchronization of robot movements in the VR app.
Network Topology
The communication between TeleSuit and TeleBox can be established in the following three ways:
- Direct wired connection
- Direct Wi-Fi connection
- Through a public server for cross-network transmission and remote teleoperation (coming soon)
The communication between TeleSuit and VR can be established in the following two ways:
- Direct Wi-Fi connection
- Direct wired connection (Pro version and above)
ROS Topic List
TeleXperience includes several ROS2 topics that you can subscribe to for secondary development.
| Topic | Message Type | Description |
|---|---|---|
/io_teleop/joint_states | sensor_msgs/JointState | Joint position feedback from the robot controller |
/io_teleop/target_ee_poses | geometry_msgs/PoseArray | Desired poses of the robot arm's end-effector |
/io_teleop/joint_cmd | sensor_msgs/JointState | Desired joint positions of the robot arm (waist) |
/io_teleop/target_gripper_status | sensor_msgs/JointState | Desired open/close state of the gripper |
/io_teleop/target_base_move | std_msgs/Float64MultiArray | Desired movement speed of the base |
/io_teleop/target_finger_joints | sensor_msgs/JointState | Desired finger joint angles for the dexterous hand |
/io_teleop/target_joint_from_vr | sensor_msgs/JointState | Desired joint positions for the head and lifting torso |
/io_teleop/target_joint_from_mocap | sensor_msgs/JointState | Joint angle optimization reference from motion capture |
/io_teleop/vibration_feedback | std_msgs/Float64MultiArray | Vibration feedback for the controller |
/io_teleop/vr_data | io_msgs2/VrData | Messages from the VR headset and controllers |
/mocap/sensor_data | io_msgs2/SquashedMocapData | Motion capture data |
/io_fusion/tf | tf2_msgs/TFMessage | TF calculated from motion capture data |
The io_msgs2 message type is defined by IO. You can access the original files at the following path:
ssh orangepi@10.42.0.3 # password:123456
cd /teleopbox_app/ros_ws/src/io_msgs2