Current Marvin Pro Apex Teleop

This page applies to the current Marvin Pro with a Tianzhun controller and uses frontend 1.0.7.6o in its screenshots. The current matching baseline uses robot controller / MarvinSDK 100343001 and Teleop service 1.0.18. Use software from the same delivery release on site.

Interface overview

Area	Purpose
Top status bar	Robot, Camera, Teleop, Net, VR, and Healthy states
Controller IP	Enter the Tianzhun controller IP and press Enter
3D view	URDF model and live robot pose
Module controls	Camera, Robot, Teleop, Tool, and dnsmasq controls
Robot Mode	Set Ready, robot mode, input mode, Home, and gripper restart
Data Record	Robot and camera data recording
Data Playback	Recorded data selection and playback
WebRTC	Four-tile camera stream
Side navigation	Main, log, and settings pages

First teleoperation sequence

1. Enter the Tianzhun controller IP in the upper-right field and press Enter.
2. Start Robot.
3. Confirm that the URDF pose matches the physical robot.
4. Start Teleop and dnsmasq.
5. Start Camera when video is required. Start Tool only when an end effector is configured.
6. Click Start Robot to set the robot Ready.

Do not Home directly from the factory packing pose

If both arms hang vertically close to the center column, the robot is still in its factory packing pose. Calling Home directly can cause a wrist camera to collide with the column. First move all 14 arm joints to zero using the procedure below.

Move from the Packing Pose to All Zeros

Confirm that Robot and Teleop are running and the robot is Ready. Start RQt from a desktop terminal with the Apex ROS environment loaded:

source /etc/apex/apex_ros_env.sh
rqt

Open Plugins → Services → Service Caller, then:

1. Call /control/set_mode with data = 1 to select Position Mode.
2. Call /control/set_input with data = 2 to select Planner input.
3. Call /control/movej with joint_values set to 14 zeros.

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

After both arms reach the all-zero pose:

1. Select Impedance Mode.
2. Click Home to move to the teleoperation initial pose.
3. Set Input Mode to Teleop.
4. Connect the headset, open the Apex headset client, and begin teleoperation.

If the robot has already left the packing pose and its path is known to be safe, proceed directly with the teleoperation-mode steps above. Watch the physical robot and wrist cameras throughout the motion and keep the emergency stop within reach.

Module controls

Module	Required	Description
Robot	Yes	Connects the robot and publishes robot state
Teleop	Yes	Starts the teleoperation chain
dnsmasq	Yes	Provides network service for a wired headset
Camera	Optional	Starts four-camera streaming and WebRTC
Tool	Optional	Controls a configured gripper or end effector

Green indicates that a module is running. Dependent controls may remain unavailable until Robot is running and the robot is Ready.

Robot Mode

Robot control modes

Control	Description
Start Robot	Sets the robot Ready
Standby Mode	Does not execute external motion commands
Position Mode	Position control mode
Impedance Mode	Compliant mode used for teleoperation
Home	Moves to the configured teleoperation initial pose; from the factory packing pose, first MoveJ to all zeros and never click Home directly
Restart (Gripper)	Restarts a configured gripper

Input modes

Mode	Description
None	No external motion input
Teleop	Headset teleoperation input
Custom	Customer application or VLA input

Read Customer integration interfaces before using Custom mode.

Camera view

The camera panel always uses a four-tile layout. In the example, camera_sources: [0, 1, none, none] enables two cameras, so the lower two tiles are black by design. This does not indicate a camera fault. Bitrate, packet loss, and FPS are shown at the bottom.

Recording

1. Connect the USB drive, set its volume label to BAG_STORAGE, and confirm that it is mounted at /media/<user>/BAG_STORAGE.
2. Click Start Recording.
3. Keep Robot, Teleop, and any required Camera module running.
4. Stop recording and wait for writing to finish before removing the drive.

Recordings are stored by default in:

/media/<user>/BAG_STORAGE/recorded_bags

Each my_bag-* task directory should contain at least data/*.mcap, data/metadata.yaml, and video/cameras.mp4. If files are missing or MCAP cannot be read, first check for an interrupted recording and verify that the USB drive is writable.

Playback

1. Click Select File and choose a recording.
2. Use Play, Pause, and Stop.
3. Select the playback rate from Speed.

Before physical playback, clear the workspace, verify the initial pose, and keep the emergency stop within reach.

Logs

Open the log page from the left navigation and select a module from the upper-right list.

Control	Description
Module list	Switches between Robot, Teleop, and other module logs
Locked	Holds the current scroll position
Clear	Clears the currently displayed log

Record the fault time and inspect both Robot and Teleop logs. Do not diagnose a fault from status indicators alone.