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 the robot's integrated controller on the same subnet.
- Charge and correctly wear the Pico headset, waist tracker, and leg trackers.
2. Connect to the Controller
Select the address and account for the controller installed in the device. These are factory defaults; use the delivery configuration if the IP address, username, or password has been changed.
| Controller | Default IP | Username | Default password |
|---|---|---|---|
| Tianzhun 003 | 6.6.7.100 | nvidia | nvidia |
| Lingjing Thor | 6.6.7.100 | user | 1 |
Tianzhun 003 control unit:
ping 6.6.7.100
ssh nvidia@6.6.7.100
Lingjing Thor controller:
ping 6.6.7.100
ssh user@6.6.7.100
Enter the corresponding default password on the first SSH connection. If the delivered device already uses a changed password, do not attempt to restore the factory default.
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 current controller 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 the controller | Controller type, IP, account, 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 |