Software Usage

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This section provides a detailed guide on using the TeleXperience VR APP, the motion capture suit, and familiarizing yourself with the full process of teleoperation and data collection through the built-in demo.

For first-time users, please read and watch all the instructional content in this section thoroughly.

Once familiar, you can directly refer to the CheatSheet.

Introduction to IO TeleXperience APP

Watch the following video to understand the interface and interaction logic of the TeleXperience APP in VR.

Calibration and Usage of Motion Capture Suit

Activating the motion capture feature is not mandatory for running the demo. You can complete the demo without enabling motion capture.

However, enabling motion capture allows you to experience the null-space optimization feature of the 7-DOF robotic arm.

If your target robotic arm has 6 or fewer DOF, you can skip this section and proceed directly to the demo.

Enabling Motion Capture

In VR, click START MOCAP. If the blue motion capture avatar starts moving, the feature is successfully activated.

Motion Capture Suit Calibration

If the blue motion capture avatar's movements do not match the actual human movements, calibration is required.

Before calibration, ensure the VR headset audio is on and set to an appropriate volume to follow the voice instructions.

Standard Calibration	Pro Calibration
On the left control panel, ensure LOWER BODY and GLOVE are unchecked. After clicking START MOCAP, click AUTO CALIB to start calibration. Follow the voice instructions and demonstration strictly for calibration:	On the left control panel, ensure LOWER BODY and GLOVE are checked. After clicking START MOCAP, click AUTO CALIB to start calibration. If not wearing the lower body suit, you can leave LOWER BODY unchecked. Follow the voice instructions and demonstration strictly for calibration:
Before Calibration After Calibration	Before Calibration After Calibration

Optional VR and Motion Capture Suit Joint Calibration

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Joint calibration of the VR headset and controllers with the motion capture suit is optional. It does not affect teleoperation functionality but improves visualization during motion capture. It is also useful for secondary development based on motion capture signals.

Head Joint Calibration	Controller Joint Calibration
After enabling motion capture, click CALIB VR HEAD.	After enabling motion capture, click CALIB VR CONTROLLER.
Before Calibration After Calibration	Before Calibration After Calibration

Out-of-the-Box Demo: OpenLoongVuer

To let you experience teleoperation without relying on a physical robot, we provide a demo environment using the OpenLoong robot in Vuer.

Launching Vuer

Prepare a laptop to launch the Vuer webpage. The laptop does not require a specific OS, as long as it can connect to WiFi and access the webpage.

1. Connect the laptop to the teleoperation device's WiFi.
2. Open a browser and go to http://10.42.0.3:8012.

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If the Vuer webpage lags, consider using a laptop with better GPU performance.

Controlling the Robot

You can now control the OpenLoong robot in Vuer via teleoperation:

Standard Version	Pro Version

Data Collection

Standard Version	Pro Version

Trajectory Playback

You can replay the robot's trajectory from the collected data. Note: Playback does not synchronize the robot's movement in VR; you need to view it on the Vuer webpage.

CheatSheet

Command	Standard Version	Pro Version
Enable Motion Capture	Press the START MOCAP button in VR
Enable Teleoperation	Press the START TELEOP button in VR
Calibrate VR View	Hold the calibration button Note: Once synchronization starts, recalibration is not allowed. Stop synchronization first, recalibrate, and then restart synchronization.
Start Synchronization	After enabling teleoperation, press the right controller's A button	After enabling teleoperation, rotate the right foot outward and return
Stop Synchronization	After enabling teleoperation, press the right controller's B button	After enabling teleoperation, rotate the right foot inward and return
Control Arm	After synchronization, the robotic arm follows the VR controller	After synchronization, the robotic arm follows the human hand
	Before synchronization, enable motion capture and ensure the human arm and robot arm are in similar postures to experience null-space optimization for 7-DOF arms.
Lock Arm End-Effector Orientation	After synchronization, hold the left controller's trigger	After synchronization, rotate both feet outward and hold
Lock Arm End-Effector Position	After synchronization, hold the right controller's trigger	After synchronization, rotate both feet inward and hold
Control End-Effector	After synchronization, hold the side trigger of the controller	After synchronization, the dexterous hand follows human finger movements
Control Chassis	After synchronization, move the left joystick up, down, left, or right	After synchronization: Lift left heel to move forward Lift left toe to move backward Rotate left foot left to turn left Rotate left foot right to turn right
Control Torso	After synchronization, move the right joystick up, down, left, or right	After synchronization: Lift right toe to ascend Lift right heel to descend
Control Head	After synchronization, wear the VR headset to control the robot's head movement
Reset Robot to Teleoperation Zero Position	Push both joysticks outward horizontally and hold for 1 second	Rotate both feet outward and hold for 1 second
Start Data Recording	After synchronization, press the left controller's X button	After synchronization, rotate the left foot inward and return
Stop and Save Data Recording	After synchronization, press the left controller's Y button	After synchronization, rotate the left foot outward and return
Discard Data Recording	After synchronization, hold the left controller's Y button for 2 seconds	After synchronization, rotate the left foot outward and hold for 2 seconds
Switch to Transparent Mode	Press both joysticks simultaneously