Teleoperation Guide - QUANTA X1 Pro 1.0

Quanta X1 Pro supports two teleoperation methods: the master arm station and VR. Before teleoperation, check the robot's emergency stop, wireless emergency stop, network connection, and device status, and clear people and obstacles from the robot's range of motion.

Master Arm Station Teleoperation

Connect to the Robot

Power on the master arm station PC and the robot, wait 1–2 minutes, and confirm that both have started normally.
Open a browser on the master arm station PC and go to http://localhost/client/home.
On the home page, select the target robot by its SN or IP address and connect.

Select the robot by SN or IP in the WebUI

Start Teleoperation

After entering the data collection UI, the system is in idle mode by default. Confirm that the camera feeds, network, and devices are working normally, then click "Start Teleoperation" to establish a master-slave connection.

Start teleoperation in the WebUI

Station Components

The master arm station includes a PC, mechanical master arms, a monitor, an integrated touch keyboard and mouse, an emergency stop switch, a power strip, and other modules. Once the power strip is powered on, press the PC power button to start the station. The master arm station and Quanta X1 Pro should be connected to the same LAN.

Master arm station left handle

Master arm station right handle

Handle Structure	Corresponding Operation
Left handle trigger	Controls opening and closing of the left gripper
Right handle trigger	Controls opening and closing of the right gripper
Left handle joystick	Controls the head: push up to pitch up, push down to pitch down, push left to turn the head left, and push right to turn the head right
Right handle joystick	Controls the chassis: push up to move forward, push down to move backward, push left to turn left, and push right to turn right
Button 1 (upper button on left handle)	Raises the waist
Button 2 (lower button on left handle)	Lowers the waist
Button 3 (upper button on right handle)	Press and hold to start or stop data collection; press briefly to switch between task variants
Button 4 (lower button on right handle)	Press twice to recenter the head; press once to switch the viewing mode

VR Device Teleoperation

The supported VR device model is Pico 4 Ultra Enterprise.

Connect to the Robot

Power on the PC used with the VR device and the robot, wait 1–2 minutes, and confirm that the robot has started normally.
Open a browser on the PC and go to http://localhost/client/home.
On the home page, select the target robot by its SN or IP address and connect.

Select the target robot for VR teleoperation in the WebUI

Connect and Launch the VR Application

Connect the VR device to the PC using a USB cable.
Put on the VR headset and open "Library" from the taskbar at the bottom.

Open Library from the VR taskbar

Select Unknown Sources in the VR Library

Launch the VR teleoperation application and wait for the connection

Click "Unknown Sources" in the upper-right corner of Library.
Find and open the x2robot_pico_teleop application. Wait a few seconds until a white square appears on the screen.
Return to the WebUI and confirm that the VR device connection status is green.
In idle mode, click "Start Teleoperation" to establish a master-slave connection.

Start VR teleoperation in the WebUI

Controllers and Buttons

Left VR controller

Right VR controller

Operation	Action
Press the B button on the right controller twice	Starts/stops engage/disengage control of both arms, with the left and right controllers controlling the left and right arms respectively
Press and hold the B button on the right controller	Starts/stops data recording
Left joystick	Controls head movement: push up to pitch up, push down to pitch down, push left to turn the head left, and push right to turn the head right
Right joystick	Controls chassis movement: push up to move forward, push down to move backward, push left to turn left, and push right to turn right
Front lower buttons on the left and right controllers	Control opening and closing of the left and right grippers: press and hold to open the grippers, and release to close them
Button combination	Hold A while pushing the left joystick: push up to raise the waist, and push down to lower the waist
Side button	Pauses robotic arm teleoperation; when pressed, the robotic arm no longer follows the controller's pose

VR Operating Precautions

Rest the headset around the operator's neck and keep both controllers within the headset's field of view at all times.
Avoid large hand movements when pressing the B button twice to enter takeover mode.
Before leaving, you must press the B button twice again to exit takeover mode and wait for the robot to return to its zero position.
Do not set down the controllers while in takeover mode, as this may cause abnormal robotic arm movement or equipment damage.

End Teleoperation

Stop the current data recording.
Exit robotic arm takeover mode and wait for the robot to return to a safe pose.
End teleoperation mode in the WebUI.
Confirm that the robot has stopped before disconnecting the VR device, master arm station, or network connection.

If you are also collecting data, continue to the Data Collection Guide.

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