Introduction

This section contains task-oriented recipes for common operations. Each guide focuses on a specific task and assumes you have a working workspace.

Available Guides

Basic Operations

• Run Mock Demo — Test without hardware

• Switch Robot — Change robot model; EEF via type / left_type / right_type

Simulation

• Gazebo Simulation — Physics simulation with Gazebo

• Isaac Sim — NVIDIA Isaac Sim integration

Programming

• Python Interface — Control robots from Python

Controllers

• Use Basic Joint Controller — HOME / HOLD / MOVEJ (std_msgs/Int32 /fsm_command; mixed stacks: 3 = OCS2, MOVEJ = 4)

• Configure ROS 2 controller parameters — YAML vs CLI vs xacro <param>; Startup vs Runtime

Teleoperation

• VR Teleop — VR headset control

• Isomorphic Teleop — Master–slave isomorphic teleop (同构遥操作, HighTorque Panthera HT)

• Drag teaching is not implemented — 拖动遥操作 is not a supported path

• DexCap Teleop — DexCap glove (internal)

Deployment

• Go Real Hardware — Deploy to physical robots

  • ARX Lift 2S — Full-body ARX (方舟无限) mobile manipulator

  • HighTorque Panthera HT — Dual-arm manipulator (panthera-ht branch)

• Add a Robot — Integrate new robot models

Synthetic Data

• Synthetic Data — Isaac USD → task queue → LeRobot record/export

  • Isaac Scenes and USD

  • Interface and Orchestration

  • LeRobot Record and Export

Guide Format

Each guide follows the same structure:

1. Prerequisites — What you need before starting

2. Steps — Numbered procedure

3. Verification — How to confirm success

4. Troubleshooting — Common issues

Need Something Else?

Role-based paths after the beginner course: More applications.

If you can’t find a guide for your task:

1. Check the Concepts section for understanding

2. Look in Reference for detailed documentation

3. Search repository READMEs for specific packages