Software Usage
1. Entering the IO TeleXperience APP on the VR Side
1.1 Connecting the VR to TeleSuit Main Control WiFi
After properly wearing the VR headset, ensure that the display inside the VR is clear. Click the Meta Logo button on the right controller to pop up the menu bar. On the left side of the menu bar, find the "Quick Settings" button (marked with the time, WiFi, and battery indicators), and click "Quick Settings" to enter the network settings interface.
Click the Wi-Fi option to enter the WiFi connection interface.
Find the Router WiFi (starting with Y2_5G) in the list. This information is located on the sticker on the side of the TeleBox.
Enter the router's WiFi password: minnanoIO2023 to complete the connection.
After a successful WiFi connection, the network connection icon will be displayed at the top right corner of the main interface. (Connected WiFi shows "Connected to device, but unable to provide internet connection", which is normal.)
1.2 ⚠️ Troubleshooting and Handling
If the VR headset enters transparent mode after being worn, it is because the VR has set a safety boundary and the user is not within that boundary. Follow the on-screen prompts to set the boundary.
1.3 Entering the APP
After connecting to WiFi, click the IO-AI icon in the menu bar to enter the IO TeleXperience APP interface.
Introduction to the IO TeleXperience APP Interface
Left View
Middle View
Right View
2. Entering the IO TeleXperience APP on the Notebook Side
Connect the Notebook to the TeleOperation Device WiFi
Prepare a notebook that can normally connect to WiFi, and connect both the notebook's WiFi and the VR to the same TeleOperation device's WiFi.
Router WiFi Name: Check the sticker pasted on the side of the TeleBox.
Router WiFi Password: minnanoIO2023
2.1 Entering the Web Page
Open a browser and enter the URL http://10.42.0.3:8012 to navigate. The webpage will display a scene with the robot and desktop, indicating that you have entered the IO TeleXperience APP.
2.2 ⚠️ Troubleshooting and Handling
If no image appears on the page, click the RESTART TELEBOX button within the VR headset's page and refresh the webpage until the image appears.
If the page is inaccessible, enter the URL 10.42.0.3:7876 and navigate. Scroll to the bottom of the page, click Restore Factory Settings, and then click Apply Configuration in the top right corner to save. Return to the URL 10.42.0.3:8012 and refresh the page to see the image.
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| Problem: No image appears | Solution: Click the RESTART TELEBOX button within VR |
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| Problem: Unable to access | Solution: Restore Factory Settings |
3. Entering the Motion Capture State
3.1 Starting Motion Capture Avatar Synchronization
In the function button panel within the VR headset, click START MOCAP. The motion capture avatar on the far right of the screen will begin synchronizing with the human body posture.
3.2 ⚠️ Important Notes
Without wearing the lower-body motion capture pants and gloves, the motion capture avatar's lower body and hand movements may display abnormal postures.
3.3 Checking Telesuit Indicator Light Status
At this point, the topmost indicator light on the Telesuit changes from a green flashing state to a red-green flashing state.
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| Top Indicator Light: Red-Green Flashing State |
3.4 ⚠️ Troubleshooting and Handling
If you feel that the motion capture avatar's movements are not synchronized with your body movements, proceed to action calibration as described in the next tutorial.
4. Starting Action Calibration
4.1 Accessing the Calibration Web Page
Click the Meta Logo button on the right controller to open the menu, then click the browser to open it.
Enter the URL: 10.42.0.2:8686 in the browser and navigate.
4.2 Performing Action Calibration
- A calibration web page appears. Click AUTOCALIB and follow the voice prompts to complete the calibration actions.
- Please raise your hands: Raise both hands.
- Please stand over: Bend down.
- Please raise your left leg: Raise your left leg.
- Please raise your right leg: Raise your right leg.
- Please put your hands together and hold: Bring both hands together and hold.
- When the voice prompt says "Calibrated.", it indicates that the action calibration is complete.
A calibration web page appears. Click AUTOCALIB and follow the voice prompts to complete the calibration actions.
View Calibration Action Demonstration Video
When the voice prompt "Calibrated." appears, it indicates that the action calibration is complete.
4.3 Returning to the APP
Click the "x" in the top right corner of the page to exit the browser.
Click the Meta Logo button on the right controller to open the menu, click Continue, and return to the IO TeleXperience APP.
5. Feature Introduction
5.1 Performing Teleoperation
Field of View Calibration
After returning to the APP, long press the Meta Logo button on the right controller to calibrate the VR app interface to the operator's direct front view.
⚠️ You must long press the Meta Logo button for calibration before each synchronization starts!!!
Entering Teleoperation State
Click START TELEOP to enter the teleoperation state.
⚠️ Important Notes:
At this point, the START TELEOP button changes to STARTING. After successfully starting the teleoperation function, the button changes to STOP TELEOP.
The operator’s body posture should try to align with the robot's posture as much as possible.
Synchronizing Robot Movement
Click the A button on the right controller to start synchronizing the human body with the robot. Click the B button on the right controller to stop synchronization. Clicking the A button again on the right controller will continue synchronization.
The left controller's joystick controls the robot's forward, backward, left, and right movements.
When the robot moves, because human head movements are synchronized, the first-person view image fixed on the robot's head will change accordingly.
⚠️ Important Notes:
If the image is lagging or not smooth, it may be due to the laptop's insufficient support for real-time image rendering. This issue can be ignored during the tutorial phase.
5.2 Starting Data Collection
After entering the teleoperation state and starting synchronization, click the X button on the left controller to start data collection.
⚠️ Important Notes:
Clicking the X button on the left controller will start the timer in the center of the right panel, which will increment by seconds. The timer at the bottom will increase by 1 when the X button is clicked.
Clicking the Y button on the left controller will save this data, reset the timer, and the counter number remains unchanged.
Long pressing the Y button on the left controller will delete this data, reset the timer, and the counter number will decrease by 1.
| Click X Button: Start Collection | Click Y Button: Save Data | Long Press Y Button: Delete Data |
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5.3 Switching from Teleoperation Collection Mode to Data Upload Mode
Method ① (Through TeleBox Button)
Long press the round button on the side of the TeleBox. When all the beads on the TeleBox turn white, it switches to data upload mode.
Method ② (Through Front-End Webpage)
Connect to WiFi
Prepare a device that can connect to WiFi and connect it to the router.
Router WiFi Name: Check the sticker pasted on the side of the TeleBox.
Router WiFi Password: minnanoIO2023
Enter the Web Page
Open a browser and enter the URL 10.42.0.3:7876 to navigate.
Switching Modes
Find the running mode, select Upload Mode, and click Apply Configuration in the top right corner.
Green pop-ups like "Configuration saved successfully, applying new configuration..." and "Service restarted successfully" will appear at the bottom left of the page, indicating that the upload mode has been successfully switched.
⚠️ Important Notes:
Regardless of which switching method you choose, the other end will respond synchronously. If you switch via the TeleBox button, the webpage will automatically select upload mode after refreshing. If you switch via the webpage, the beads above the TeleBox will change to white synchronously.
5.4 Data Upload
Configuring Upload Options (Only Needs to Be Done the First Time)
After switching to data upload mode, use a device connected to the router to access the URL 10.42.0.3:7876
Scroll down to find Storage Data Upload Settings, which will pop up an Upload Parameter Configuration Popup.
Click Get Configuration from Data Platform to navigate to the IO-AI Data Platform login page.
⚠️ Important Notes:
Since the WiFi is connected to the TeleXperience device's LAN Y2_5G_xxxx, a "Cannot Access" prompt will appear after navigation. This is normal.
At this point, switch the device's WiFi back to the normal external internet.
After refreshing the webpage, the IO-AI Data Platform login page will appear. Log in using the account and password provided on the TeleBox's side label.
After a successful login, no further actions are needed. The system will automatically synchronize the configuration. Now, reconnect the device's WiFi back to the router.
Return to the URL 10.42.0.3:7876, refresh the page, and the Data Upload Cloud option will be checked by default. Click Save Configuration.
Green pop-ups like "Configuration saved successfully, applying new configuration..." and "Service restarted successfully" will appear at the bottom left of the page, indicating that the configuration was successfully saved.
Method ① (Auto Upload Checked)
Switching Modes
Long Press the round button on the side of the TeleBox. The top beads on the TeleBox will change from all green to all white, indicating a switch to upload mode.
Checking Indicator Light Status
Wait for 5 seconds, and the leftmost bead will turn red.
Connect the variable IP interface on the side of the TeleBox to the external internet using your own Ethernet cable. After waiting for 5 seconds, the top left bead on the TeleBox will turn white.
⚠️ Troubleshooting and Handling:
If the leftmost bead does not turn white, try unplugging the Ethernet cable from the fixed IP port and reconnecting the variable IP port until the bead turns white. Then, plug the Ethernet cable back into the fixed IP port.
At this point, the white beads on top of the TeleBox will gradually light up, indicating the data upload progress. When all beads remain steadily white, data upload is complete.
Users can also view the data upload progress synchronously on the front-end webpage (10.42.0.3:7876) in the data management interface.
Method ② (Auto Upload Not Checked)
Open a browser and enter the URL: 10.42.0.3:7876 to navigate.
Select the data management interface, check the data you want to upload, and click the Upload All at Once button in the top right corner to complete data upload.
5.5 How to Better Control Robot Movement
After entering the teleoperation state, before starting synchronization by long pressing the A button on the right controller, long press the Meta Logo button on the right controller to perform calibration.
Mimic the Robot's Posture as Much as Possible
The robot's end posture will track the status of the operator's hand-held controller, allowing for translation or rotation.
For robotic arms with redundant degrees of freedom, while in motion capture state, keep the controller still and move your elbows to experience the elbow joint tracking provided by motion capture.
5.6 Exiting the APP
Click the Meta Logo button on the right controller to bring up the menu.
Click the Exit button to exit the IO TeleXperience APP
