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Standard Version

Preparation​

1. Start Sync​

Press the right controller A button

2. Stop Sync​

Press the right controller B button

3. Resume Sync​

Press the right controller A button again

⚠️ Notes​

  1. When using leg operations, ensure the controller is within the VR view.
  2. For leg operations, commands take effect after the leg returns to its original position.

Robot Movement Control​

1. Robot Movement​

Move Forward, Backward, Left, and Right​

Use the left controller joystick to move the robot.

Ascend and Descend​

Use the right controller joystick to control the robot's torso.

2. Robot Arm Posture Control​

Keep End Posture, Move Arm with Body​

Hold the left controller trigger

Keep Arm Position, Move End Posture with Body​

Hold the right controller trigger

Keep Both Arm Position and End Posture​

Hold both left and right controller triggers

Resume Sync with Body​

Release the corresponding trigger to resume sync.

3. Return Robot to Initial Position​

Click STOP MOCAP and STOP TELEOP to stop sync and teleoperation.

Push both left and right controller joysticks outward to return the robot to its initial position.

⚠️ Notes​

  1. Ensure the controller is within the VR view when using leg operations.
  2. The first-person view image fixed on the robot's head will change with head movements.
  3. If the image lags, it may be due to insufficient laptop support for real-time rendering. This can be ignored during the tutorial phase.

Start Data Collection​

1. Start Data Collection​

Enter teleoperation mode and start sync, then press the left controller X button to start data collection.

Changes on the right panel:

  • Timer starts counting in seconds
  • Counter increases by 1

2. Save Data​

Press the left controller Y button

Changes on the right panel:

  • Timer resets
  • Counter remains the same

3. Delete Data​

Hold the left controller Y button

Changes on the right panel:

  • Timer resets
  • Counter decreases by 1