Learn TeleXperience System
If you wish to apply TeleXperience to your own robot and complete the adaptation work yourself, please refer to the relevant content in this chapter.
The advanced development process is not within the scope of official after-sales support. Problems encountered during the adaptation process need to be resolved by yourself. You can submit a problem form, and we will try our best to provide suggestions, but we cannot guarantee response time or specific solutions.
If you encounter unsolvable problems during the adaptation process, please contact your sales representative to purchase adaptation services. Our professional team will provide customized support to ensure your robot successfully completes adaptation.
Please also note that self-adaptation currently has the following limitations:
- Dexterous Hand: Does not support adaptation for independent movement of each finger, but can support simultaneous opening and closing of all fingers
- Does not support visualization of robot models in VR APP and real-time synchronization of robot movement
Network Topology
TeleSuit and TeleBox can establish communication connections through the following three methods:
- Wired network direct connection
- Wi-Fi direct connection
- Through public network server, enabling cross-network transmission and remote teleoperation (coming soon)
TeleSuit and VR can establish communication connections through the following two methods:
- Wi-Fi direct connection
- Wired network direct connection (Professional Edition and above)
ROS Topic List
There are several ROS2 topics within TeleXperience that you can subscribe to for secondary development
| Topic | Message Type | Description |
|---|---|---|
/io_teleop/joint_states | sensor_msgs/JointState | Joint position feedback from robot control computer |
/io_teleop/target_ee_poses | geometry_msgs/PoseArray | Desired end-effector pose |
/io_teleop/joint_cmd | sensor_msgs/JointState | Desired joint position for manipulator (waist) |
/io_teleop/target_gripper_status | sensor_msgs/JointState | Desired open/close status for gripper |
/io_teleop/target_base_move | std_msgs/Float64MultiArray | Desired movement velocity for base |
/io_teleop/target_finger_joints | sensor_msgs/JointState | Desired finger joint angles for dexterous hand |
/io_teleop/target_joint_from_vr | sensor_msgs/JointState | Desired joint position for head, 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 | Controller vibration feedback |
/io_teleop/vr_data | io_msgs2/VrData | VR headset and controller messages |
/mocap/sensor_data | io_msgs2/SquashedMocapData | Motion capture information |
/io_fusion/tf | tf2_msgs/TFMessage | TF calculated from motion capture messages |
Among these, io_msgs2 is a message type defined by IO. You can access the original files through the following path:
ssh orangepi@10.42.0.3 # password:123456
cd /teleopbox_app/ros_ws/src/io_msgs2