Walker Tienkung DEX Operation Guide

This document describes the basic flow for using Thinker studio v2.0.x with Walker Tienkung DEX for Pico teleoperation, data collection, quality inspection, and export.

For general installation configuration, service management, and Pico-side operations, please refer to:

• Documentation Index and Introduction
• Pico Operation Guide

Note: The screenshots in this document use Walker Tienkung as an example. The operation flow for Walker Tienkung DEX is the same and can be used as a reference.

Applicable Environment​

Network Configuration​

After connecting the target machine and Walker Tienkung DEX with an Ethernet cable, ensure both sides are on the same network segment.

Walker Tienkung DEX factory network segment:

192.168.41.x

Configure the target machine's physical Ethernet port to a static IP in the same network segment, for example:

IP Address: 192.168.41.100
Subnet Mask: 255.255.255.0

Use the following command to check whether the target machine can access the Orin board:

ping 192.168.41.2

Ubuntu wired network configuration entry

Ubuntu IPv4 manual configuration example

Pre-use Preparation​

Please confirm:

• The target machine has Thinker studio installed.
• The target machine has completed network configuration and can access 192.168.41.2.
• Walker Tienkung DEX is powered on.
• Pico, body trackers, and remote controller are ready.

Select Robot​

Find the Thinker studio icon in the application center on the target machine and click it to open the client.

On the robot selection page, select "Walker Tienkung DEX" to enter the teleoperation page.

Thinker studio client icon

Start Pico Teleoperation​

Start Teleop Service​

Start the Teleop Service service in the Thinker studio client.

Start Teleop Service

This service is used to receive tracking and control data sent from the Pico side. After the service starts, keep the client page open.

Teleop Service running

Pico-side Operations​

For tracker wearing, XRoboToolkit connection, checking Send, and other Pico-side operations, please refer to the Pico Operation Guide.

Start Retargeting Monitor​

Start the Retargeting Monitor service in the Thinker studio client.

Start Retargeting Monitor

This service is used for motion retargeting monitoring during teleoperation.

Retargeting Monitor running

Start Teleoperation​

Click Start in the teleoperation area of the Thinker studio client.

Click to start teleoperation

Teleoperation started successfully

End Teleoperation​

When ending teleoperation, please operate in the following order:

1. Click Stop in the teleoperation area of the Thinker studio client.
2. Stop related services, such as Teleop Service and Retargeting Monitor.
3. If you need to pause Pico control data sending, you can uncheck Send under Data & Control in XRoboToolkit on the Pico side.

Stop teleoperation

Stop related services

Data Collection​

Data collection is used to collect camera data and arm joint angles.

Start Collection​

Safety Reminder

Before starting data collection, please confirm that the robot's surrounding environment is safe and spacious, and avoid people or objects entering the robot's motion range.

Click Start in the data collection area of the Thinker studio client to begin collection.

Start data collection

Data collection started successfully

End Collection​

Click End in the data collection area to stop collection.

After successful collection, the collected data will be displayed in the collection history area on the right.

Collection history

Data Quality Inspection and Export​

Data Quality Inspection​

Select the data to be processed in the collection history and click Quality Check to enter the data quality inspection page.

Enter quality inspection

Quality inspection page

The quality inspection page supports adding multiple region frames and adding descriptions for the region frames. Click Submit when finished.

Submit quality inspection description

Data Export​

Data that has completed quality inspection will display an Export button.

Export button

After clicking Export, select the desired export format. The larger the data volume, the longer the export time.

Select export format

After successful export, refresh the page. The page will display the exported data directory, and you can click to copy the directory path.

Exported data directory

FAQs​

Data collection fails to start​

Please check the following items first:

• Whether Walker Tienkung DEX is powered on.
• Whether the target machine can access 192.168.41.2.