Noitom PN Link Setup Guide

Preparation

Teleoperation device side

Device	Quantity	Description	Notes
PND robot	1	Adam series robot	Configure teleoperation program
User Computer	1	Windows recommended	Install the official Noitom mocap software Axis Studio 3, connect the suit, and calibrate
Noitom PN Link	1	Half-body or full-body configuration depending on robot model	Follow the official Quick Start Guide and Noitom tutorial video to wear the suit correctly

The official guide describes wireless connection between the suit and PC. You can also use wired connection:

Wired connection to the mocap suit

Connect your PC and the mocap suit with an Ethernet cable. Set the PC network interface to the same subnet as the suit: 10.42.0.xxx, subnet mask 255.255.255.0.

Open Axis Studio 3 → click Settings:

Under Device → Network, select an IP in the same subnet as the suit: 10.42.0.XXX:

Click the green icon to connect sensors:

Robot side

Follow the standard boot process to start the robot. Ensure your PC and the robot are on the same network segment. See network connection.

1. On your PC, open a terminal and connect to the robot.

   ssh pnd-humanoid@192.168.XX.XX # Replace XX.XX with the actual IP (on the back of the remote control handle); default password: pndxyz
   

2. Install the teleoperation program (requires internet; skip if already installed).

   curl -fsSL https://raw.githubusercontent.com/pndbotics/pnd_teleoperation/refs/heads/main/install.sh | bash
   

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Operation

Run the teleoperation program

ssh pnd-humanoid@192.168.XX.XX # Replace XX.XX with the actual IP (on the back of the remote control handle); default password: pndxyz
source /opt/pnd/pnd_teleop/setup_cli.bash
# Choose the command for your model:
# Adam U
spteleop teleop adam_u noitom pinocchio
# Adam Pro
spteleop teleop adam_pro noitom pinocchio
# Adam SP
spteleop teleop adam_sp noitom pinocchio

Axis Studio 3 settings

Open Axis Studio 3 → click Settings:

Enable BVH data broadcast and send motion data to the robot IP via UDP:

• Local address: PC Wi‑Fi IP 192.168.XX.XX
• Target address: robot IP 192.168.XX.XX, port 7012

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Visualization preview

1. Install and launch Foxglove Studio on your PC.
2. Sign in and click Open Connection.
3. Connect via WebSocket: ws://localhost:8765 (replace localhost with the robot IP).
4. Open the 3D panel settings.
5. Paste the configuration below and click Apply to preview motion mapping in real time.

Click to expand configuration code

{
  "layers": {
    "845139cb-26bc-40b3-8161-8ab60af4baf5": {
      "visible": true,
      "frameLocked": true,
      "label": "Grid",
      "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
      "layerId": "foxglove.Grid",
      "size": 10,
      "divisions": 10,
      "lineWidth": 1,
      "color": "#248eff",
      "position": [
        0,
        0,
        0
      ],
      "rotation": [
        0,
        0,
        0
      ],
      "order": 1
    }
  },
  "cameraState": {
    "perspective": true,
    "distance": 8.362406704377788,
    "phi": 74.10829292531537,
    "thetaOffset": 13.624928863620116,
    "targetOffset": [
      1.3462285617160472,
      3.872395794634993,
      -4.022926534191149e-17
    ],
    "target": [
      0,
      0,
      0
    ],
    "targetOrientation": [
      0,
      0,
      0,
      1
    ],
    "fovy": 45,
    "near": 0.5,
    "far": 5000
  },
  "followMode": "follow-pose",
  "followTf": "world",
  "scene": {
    "meshUpAxis": "z_up",
    "transforms": {
      "showLabel": false,
      "enablePreloading": true,
      "axisSize": 0
    },
    "ignoreColladaUpAxis": true
  },
  "transforms": {},
  "topics": {
    "/robot_description": {
      "visible": true
    }
  },
  "publish": {
    "type": "point",
    "poseTopic": "/move_base_simple/goal",
    "pointTopic": "/clicked_point",
    "poseEstimateTopic": "/initialpose",
    "poseEstimateXDeviation": 0.5,
    "poseEstimateYDeviation": 0.5,
    "poseEstimateThetaDeviation": 0.26179939
  },
  "imageMode": {}
}

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Real robot operation

Warning

• Real robot operation involves risk. Keep a 3‑meter clear area around the robot.
• Connect to the real robot only after the teleoperation program runs normally and the preview looks correct.
• Confirm preview joint positions match the robot pose before enabling control.
• Do not switch to other modes (walking, running demos, etc.) during teleoperation.
• In an emergency:
  1. LT + B: enter damping mode
  2. LB + RB: power off actuators

Real robot operation by model

Adam-SP / Adam-ProAdam-U

Follow the standard boot process to start the robot.

• Zero position mode (Press A)
• Standing mode (Press X)
• In Standing Mode, press D‑pad Right to connect teleoperation
• In Standing Mode, press D‑pad Left to disconnect teleoperation

Follow the standard boot process to start the robot.

• Zero position mode (Press A)
• Motion mode (Press X)
• In Motion Mode, press D‑pad Right to connect teleoperation
• In Motion Mode, press D‑pad Left to disconnect teleoperation

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Last updated: 2026-05-20