Marvin Pro Product Overview
Product Positioning
KernelMind Apex is a ready-to-use teleoperation kit for robotic operation scenarios. It provides the operator with an immersive first-person view through a VR headset and maps the operator's motion to the robot in real time.
The PRO version supports dual-arm robot teleoperation and works with a Meta Quest VR headset and NVIDIA Jetson Orin main controller.
Optional accessories: Manus data gloves + Wuji Hand, used for finger motion capture and fine manipulation.
System Components
The Marvin Pro teleoperation system mainly consists of the robot body, robot controller, Orin main controller, camera deserializer board, VR headset, router, and data recording media.
| Category | Device | Description |
|---|---|---|
| Robot side | Dual-arm robot body | Executes teleoperation commands |
| Robot side | Robot controller | Receives commands from Orin and the control system |
| Power and safety | 48 V main power supply | 220 V to 48 V switching power supply |
| Power and safety | 12 V controller power supply | Powers the controller and related peripherals |
| Power and safety | Emergency stop box | Provides on-site safety protection and emergency stop |
| Main control and perception | NVIDIA Jetson Orin main controller | Runs KernelMind Apex and ROS 2 nodes |
| Main control and perception | Camera deserializer board | Supports up to four GMSL camera inputs |
| Operator side | VR headset (Meta Quest) and controllers | Provides first-person view and operator input |
| Network and data | Router and Ethernet cables | Connects the robot controller, Orin, and VR headset adapter |
| Network and data | USB drive | Used for data recording; volume label must be BAG_STORAGE |
Standard Accessories
| Accessory | Qty | Description |
|---|---|---|
| VR headset (Meta Quest) | 1 | Provides immersive first-person operation view |
| Controllers (left/right) | 1 each | Control arm motion and gripper opening/closing |
| Router | 1 | LAN core connecting Orin, controller, and headset |
| Ethernet cables | Several | Wired connection for stable low-latency transmission |
USB drive (label BAG_STORAGE) | 1 | Stores ROS bag and MP4 recording data under recorded_bags by default |
| Type-C data cable | 1 | Used for ADB debugging or headset APK installation |
| Type-C Ethernet adapter | 1 | Connects the headset to the wired LAN |
Optional Accessories
| Accessory | Description |
|---|---|
| Manus data gloves | Capture fine finger motion; used with Wuji Hand |
| Wuji Hand | Dexterous hand end effector that receives glove motion commands |
| Foot pedal (three-key) | Maps controller enable actions to foot input; used for motion-capture glove / dexterous hand teleoperation scenarios |
Foot pedal key functions:
| Key | Function |
|---|---|
| Key 1 (left key) | Enables both left and right controllers together |
| Key 3 (right key) | Moves both arms back to the Home position |
Software Components
| Software module | Installation location | Description |
|---|---|---|
| KernelMind Apex Orin-side package | Orin main controller | kernelmind-apex_<version>_arm64.deb; provides ROS 2 nodes, motion control, camera, and recording services |
| KernelMind Apex headset app | Meta Quest | KernelMind_Apex_meta_<version>.apk; provides the VR teleoperation interface |
| Host teleoperation software | PC | Connects to Orin, starts the robot, switches modes, records data, and replays data |
Default Network and Runtime Environment
| Item | Default / Description |
|---|---|
| Dual-arm controller IP | 192.168.10.190 |
| Orin network adapter IP | 192.168.10.123 |
| Orin dual-arm connection IP | 192.168.10.190; must match the dual-arm controller IP |
| Router IP | 192.168.10.1 |
| Headset Apex app connection IP | 192.168.10.123; must match the Orin IP |
| SSH login to Orin | ssh marvin@192.168.10.123 |
| Login credentials | Use the credentials supplied with the device; they are not published here |
| Item | Specification |
|---|---|
| Operating system (Orin) | Ubuntu 22.04 ARM64 |
| Operating system (host development PC) | Ubuntu 22.04 AMD64 |
| Robot framework | ROS 2 Humble |
| Main control hardware | NVIDIA Jetson Orin |
| Headset | Meta Quest (VR-side APK) |
| Package format | kernelmind-apex_<version>_arm64.deb |
Core Capabilities
- Low-latency VR video streaming, supporting GMSL multi-channel cameras (left eye, right eye, left wrist, right wrist)
- Millimeter-level spatial tracking with real-time motion mapping to the robot arms
- Multiple control modes, including impedance mode, position mode, and standby mode
- Built-in ROS bag recording and real-machine playback
- Foot pedal extension and incremental teleoperation mode support, enabled by factory default
Typical Application Scenarios
- Remote teleoperation of dual-arm robots
- Robot-assisted operation in hazardous environments
- Robot demonstration data collection
- Factory intelligent production assistance