Skye/Luna Startup and Debugging
This page covers the minimum sequence from power-on to first full-body teleoperation. For buttons, recording, playback, and logs, see Classic Apex Teleop.
1. Before startup
- Connect the robot, host PC, network device, and Pico according to Hardware Wiring.
- Release the emergency stop and clear the workspace.
- Put the host PC and Tianzhun 003 control unit on the same subnet.
- Charge and correctly wear the Pico headset, waist tracker, and leg trackers.
2. Connect to Tianzhun 003
The following uses the default IP 6.6.7.100. Use the delivered site configuration if it was changed.
ping 6.6.7.100
ssh nvidia@6.6.7.100
Start the Apex backend service:
sudo systemctl start apex-backend.service
sudo systemctl status apex-backend.service --no-pager
3. Start classic Apex Teleop
- Open Apex Teleop.
- Enter the Tianzhun 003 IP and press Enter.
- Start Robot and verify that the 3D model matches the physical robot.
- Start Teleop and the network module. Camera is optional.
- Use the robot start control to set the robot Ready.
- Select Impedance Mode, then execute Home.
- Verify both arms and the physical robot pose. For Skye, also verify BODY and LIFT; for Luna, verify BODY and the knee-style body structure.
4. Connect Pico
Skye/Luna uses Pico with waist and leg trackers for full-body teleoperation. Follow the Pico headset guide for developer mode, network, and Apex client setup.
After connection, test small arm motions first. For Skye, verify torso and lift mapping; for Luna, verify torso and leg mapping. Increase the range only after all directions are correct.
5. Quick checks
| Symptom | Check |
|---|---|
| Cannot connect to Tianzhun 003 | IP, host subnet, and cable |
| 3D and physical poses differ | Robot module, model configuration, and startup log |
| Teleop unavailable | Robot running and Ready state |
| Pico cannot connect | Network module, headset IP, cable, and client settings |
| Arms move but BODY/LIFT or lower body does not | Model configuration, tracker charge, placement, and tracking state |
| Camera is black | Camera module and camera connection |
| No teleoperation motion | Impedance Mode, Home, and headset connection |