Current Marvin Pro Apex Teleop

This page applies to the current Marvin Pro with a Tianzhun controller. The current controller source-review target is gento-apex 1.1.7.1 with Gento SDK 4.7.1; the source still marks this target as unreleased. At customer sites, follow the delivery manifest and use the host application and headset client from the same release.

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 enable drag mode and manually move both arms to the standard zero pose using the procedure below.

Manually Exit the Packing Pose

1. Confirm that the Robot module is green, then click Start Robot and wait for the Ready state.
2. Open a terminal and enable drag mode:

source /etc/apex/apex_ros_env.sh
ros2 service call /tj/control/set_drag \
  marvin_msgs/srv/Int "{data: 1}"

3. After the command returns success: true, slowly drag both arms away from the center column and adjust them to the standard zero pose. Maintain safe clearance between the wrist cameras, arms, and center column throughout the movement.
4. Disable drag mode immediately after the adjustment:

ros2 service call /tj/control/set_drag \
  marvin_msgs/srv/Int "{data: 0}"

After the command returns success: true:

1. Select Impedance Mode.
2. Click Home and wait until the frontend reports completion and the robot is stable at the teleoperation initial pose. For a ROS service call, a successful response only means that the trajectory started; continue only after /tj/info/go_home_status reports succeeded.
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 enable drag mode, manually move to the standard zero pose, and disable drag mode before clicking Home
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.

To determine whether a topic is permitted for recording, playback, or frontend forwarding, see Topic whitelist configuration and diagnostics.

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.