Software Usage

tip

This section details how to use the TeleXperience VR APP, the motion capture suit, and guides you through the built-in demo for teleoperation and data collection.

Please read and watch all tutorials in this section before your first use.

Once familiar, refer to the CheatSheet for quick reference.

IO TeleXperience APP Overview

Watch the following video to get familiar with the VR TeleXperience APP interface and interactions.

Step-by-step Guide

• APP Interface & Interactions

  • Click the Wi-Fi icon in the bottom right in VR to enter network settings and connect to the TeleSuit Wi-Fi.

    

  • Click the library icon in the bottom left, select IO TeleXperience APP to enter the app.

    

  • Carefully read the "Teleoperation System Safety Notice", check "I have read and agree", then click to continue to the main interface.

    

  • Adjust window layouts under "Camera Window".

    

  • Click "immersion" for immersive mode, adjust window distance, click "Exit" to leave.

    

  • Adjust main view window size under "Camera Distance".

    

  • Main function buttons:

    

    Button	Description	Function
    START SYNC / STOP SYNC	Start/Stop SYNC	Synchronization
    START MOCAP / STOP MOCAP	Start/Stop MOCAP	Motion capture control
    START TELEOP / STOP TELEOP	Start/Stop TELEOP	Teleoperation control
    START RECORD / STOP RECORD	Start/Stop RECORD	Video recording
    LOWER_BODY	Sync/Unsync lower body	Sync lower body mocap data
    GLOVE	Sync/Unsync gloves	Sync glove data
    PLAYBACK ROBOT TRAJECTORY	Playback	Playback recorded data

  • Click "Refresh" to update button status.

    

  • Click "Settings" to open the robot selection page, browse and select robots, adjust model size with "Resize".

    

  • Click "Theme" to select and apply a new theme.

    

  • Click "Other" for low power warning settings, enable/disable as needed, exit from the top right.

    

  • Right-side view panel in VR:

    

  • To exit, press the index trigger, confirm in the popup.

    

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Motion Capture Suit Calibration & Usage

Motion capture is optional for running the demo, but enables advanced features like redundancy optimization for 7-DOF arms.

If your robot arm has 6 or fewer DOF, you may skip this section.

Start Motion Capture

In VR, click START MOCAP. The blue avatar on the right should move if started correctly.

Step-by-step Guide

• Click START MOCAP to sync the avatar. If the avatar moves, mocap is active.

  

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Suit Calibration

If the avatar's movement does not match your body, calibrate the suit.

Before calibration, turn on VR headset audio for voice prompts.

Standard Calibration	Pro Calibration
On the left panel, ensure LOWER BODY and GLOVE are unchecked. Click START MOCAP, then AUTO CALIB. Follow the voice prompts and demo actions:	On the left panel, ensure LOWER BODY and GLOVE are checked. Click START MOCAP, then AUTO CALIB. If not wearing the lower suit, you may leave LOWER BODY unchecked. Follow the voice prompts and demo actions:
Before After	Before After

Step-by-step Guide

• Standard Version
  • On the left panel, ensure "LOWER BODY" and "GLOVE" are unchecked. Click "START MOCAP", then "AUTO CALIB".

    

  • Follow the voice prompts and demo actions: Standard Steps:

    Voice Prompt	Action
    Please stand at attention	Stand straight, arms at sides
    Begin vertical calibration	Start standing calibration
    End vertical calibration	End standing calibration
    Begin arm calibration	Start arm calibration
    Please raise your hand	Raise arms ~45°, then relax
    End arm calibration	End arm calibration
    Begin Body calibration	Start body calibration
    Please bend over	Bend forward ~30°, then relax
    End body calibration	End body calibration
    Calculating	Calculating results
    Calibrated	Calibration complete

    

• Pro Version
  • On the left panel, ensure "LOWER BODY" and "GLOVE" are checked. Click "START MOCAP", then "AUTO CALIB". If not wearing lower suit, leave "LOWER BODY" unchecked.

    

  • Follow the voice prompts and demo actions: Pro Steps:

    Voice Prompt	Action
    Please stand at attention	Stand straight, arms at sides
    Begin vertical calibration	Start standing calibration
    End vertical calibration	End standing calibration
    Begin arm calibration	Start arm calibration
    Please raise your hand	Raise arms ~45°, then relax
    End arm calibration	End arm calibration
    Begin Body calibration	Start body calibration
    Please bend over	Bend forward ~30°, then relax
    End body calibration	End body calibration
    Begin left leg calibration	Start left leg calibration
    Please kick with your left leg	Kick left leg forward ~30°
    End left leg calibration	End left leg calibration
    Begin right leg calibration	Start right leg calibration
    Please kick with your right leg	Kick right leg forward ~30°
    End right leg calibration	End right leg calibration
    Please put your hands together and hold	Hold hands together at chest
    Begin hand calibration	Start hand calibration
    End hand calibration	End hand calibration
    Calculating	Calculating results
    Calibrated	Calibration complete

    

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VR Headset & Controller Joint Calibration (Optional)

info

Joint calibration of VR headset/controllers and mocap suit is optional. It improves visualization and is needed only for advanced development.

Headset Calibration	Controller Calibration
After starting mocap, click CALIB VR HEAD.	After starting mocap, click CALIB VR CONTROLLER.
Before After	Before After

Step-by-step Guide

Headset Calibration

• Point controller at "START MOCAP", press trigger to start mocap, then click "CALIB VR HEAD".

  

Steps:

Voice Prompt	Action
Please bend down and turn around	Bend forward in three directions: front, right, left (~30°)
Begin VR head calibration	Start calibration
End VR head calibration	End calibration

Controller Calibration

• After starting mocap, click "CALIB VR CONTROLLER". Steps:

  Voice Prompt	Action
  Please hold the controller and move your hand	Hold VR controllers, move arms freely for ~10s
  Begin VR controller calibration	Start calibration
  End VR controller calibration	End calibration

  

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Out-of-the-box Demo: OpenLoongVuer

To let you experience teleoperation without a real robot, we provide a demo environment in Vuer with the OpenLoong robot.

Start Vuer

Prepare a laptop to open the Vuer web page. Any OS is fine as long as it can connect to Wi-Fi and open a browser.

1. Connect the laptop to the device Wi-Fi.
2. Open browser and go to http://10.42.0.3:8012

Step-by-step Guide

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info

If Vuer lags, use a laptop with a better GPU.

Control the Robot

You can now control the OpenLoong robot in Vuer:

Standard	Pro

Step-by-step Guide

Standard:

• Connect to TeleSuit Wi-Fi, enter IO TeleXperience APP.

  

• Point controller at "START MOCAP", press trigger to start mocap. Check robot model movement.

  

• Enable teleoperation. When button shows "STOP TELEOP", teleoperation is active. Before syncing, hold the home button to center VR view.

  

• Press right controller A to start sync. Robot follows your movement. To recalibrate view, stop sync first.

  

• Hold left trigger to lock end-effector orientation; hold right trigger to lock position; hold both to lock both; release to unlock.

  

• Use left joystick: forward/back/left/right to move robot; move your head to control robot head.

  

• Press B to stop sync, A to resume.

  

• After "START SYNC", move only elbows to feel redundancy optimization.

  

• After "STOP SYNC", reset robot by pushing both joysticks outward for ~2s.

  

Pro:

• Connect TeleSuit Wi-Fi, enter IO TeleXperience APP.

  

• Point controller at "START MOCAP", press trigger to start mocap.

  

• Observe robot model on right side for correct movement.

  

• Point controller at "START TELEOP" to enable teleoperation. When button shows "STOP TELEOP", teleoperation is active.

  

• Before syncing, hold right "home" button to center VR view. After syncing, recalibration is not allowed unless you stop sync first.

  

• After enabling teleoperation, right foot eversion resumes, robot arm syncs with your arm.

  

• After syncing:
  • 1. Both feet eversion and hold
    2. Both feet inversion and hold

  

• With VR headset on, robot head and dexterous hand follow your head and fingers.

  

• Lift left heel to move forward.

  

• Rotate left foot left/right to turn.

  

• Lift left toe to move backward.

  

• After enabling teleoperation, right foot inversion/eversion resumes.

  

• After "START SYNC", move only elbows to feel redundancy optimization.

  

• Rotate both feet outward for 1s to reset robot to initial pose.

  

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Data Collection

Standard	Pro

Step-by-step Guide

Standard:

• Press X on left controller to start recording. Timer increases. Press Y to stop and save. Hold Y for 2s to cancel and delete.

  

Pro:

• After syncing, invert left foot to start recording. Timer increases.

  

• After syncing, evert left foot to stop and save. Hold eversion for 2s to cancel and delete.

  

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Trajectory Playback

You can playback recorded robot trajectories. Note: playback does not sync robot in VR; view in Vuer web.

Step-by-step Guide

• Connect laptop to device Wi-Fi, open browser to http://10.42.0.2:8686 for IO-Teleop main page.

  

• Open another browser to http://10.42.0.3:8012 for Vuer.

  

• On IO-Teleop page, click "PLAYBACK ROBOT TRAJECTORY", select a folder, then "OK".

  

• View playback in Vuer web.

  

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CheatSheet

Command	Standard	Pro
Start Mocap	Press START MOCAP in VR
Enable Teleop	Press START TELEOP in VR
VR View Calibration	Hold calibration button Note: After syncing, recalibration is not allowed. Stop sync first, then recalibrate.
Start Sync	After enabling teleop, short press right A	After enabling teleop, right foot eversion
Stop Sync	After enabling teleop, short press right B	After enabling teleop, right foot inversion
Control Arm	After sync, robot arm follows VR controller	After sync, robot arm follows your hand
	For redundancy optimization, start mocap and match arm pose before syncing.
Lock End-effector Orientation	After sync, hold left trigger	After sync, both feet eversion and hold
Lock End-effector Position	After sync, hold right trigger	After sync, both feet inversion and hold
Control End-effector	After sync, hold controller grip	After sync, dexterous hand follows your fingers
Control Chassis	After sync, use left joystick	After sync, Left heel up: forward Left toe up: backward Left rotate left: turn left Left rotate right: turn right
Control Torso	After sync, use right joystick	After sync, Right toe up: up Right heel up: down
Control Head	After sync, robot head follows your head
Reset Robot	Both joysticks outward for 1s	Both feet outward for 1s
Start Recording	After sync, short press left X	After sync, left foot inversion
Stop & Save Recording	After sync, short press left Y	After sync, left foot eversion
Cancel & Delete Recording	After sync, hold left Y for 2s	After sync, hold left foot eversion for 2s
Switch to Transparent Mode	Press both joysticks