PICO 4 Ultra Enterprise Setup Guide

Preparation

Teleoperation device side

pico_adam

Device	Quantity	Description	Notes
PND robot	1	Adam series robot	Configure teleoperation program
User Computer	1	Windows recommended	Install Foxglove Studio
PICO 4 Ultra Enterprise	1	VR headset + left/right controllers	Install PNDbotics_1.0.8.apk See the PICO 4 Ultra Enterprise user guide to wear the device correctly
PICO Tracker 2.0	5	Wear on both wrists, both ankles, and waist	See the Tracker tutorial video to wear the device correctly

First-time setup

Press and hold the power button on the right side of the headset for 3 seconds to power on.
On first boot, follow the on-screen prompts to set language and safety boundaries.
In Settings, connect to the same Wi‑Fi network as the robot.
System version must be ≥ 5.15.5.U. Go to Settings and run System update.

Tip

Safety boundary: Under Settings → Boundary, choose Stationary boundary (recommended for standing operation).

Tracker pairing

Open the Motion Tracker app on the headset.
Tap Settings.
Enable Enhanced tracking, then tap Wearing mode → 5 trackers → Forearm enhancement → Waist front.
Press and hold the power button on the Tracker for 3 seconds. The LED will blink blue slowly.
In the app, tap Connect Tracker and hold the Tracker near the headset to pair. When paired, the LED stays solid blue.
Repeat the steps above for all 5 Trackers.

Tip: After the first successful pairing, Trackers reconnect automatically when powered on.

Tracker LED status

LED state	Meaning
Solid blue	Connected, working normally
Slow blue blink	Powered on, not connected
Fast blue blink	Pairing in progress
Red	Low battery, charge required
Green	Charging complete

Install PNDbotics app

Tip

If the download is blocked, click Continue anyway to bypass the security warning, or clear your browser cache and try again.

Connect the PICO to your PC (Windows) via USB cable. Download PNDbotics_1.0.8.apk and copy it to This PC\PICO 4 Ultra Enterprise\Internal shared storage\Download.
On the headset, open File Manager → APK → PNDbotics_1.0.8.apk.

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.

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

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

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
# Same command for all models:
spteleop teleop adam_u pico mink

PICO headset setup

Wear all devices per the PICO 4 Ultra Enterprise user guide and Tracker tutorial.
Power on the PICO headset and all 5 Trackers.
In Settings, connect to the same Wi‑Fi network as the robot.
Open the PICO Motion Tracker app on the headset, tap Start Calibration, and follow the on-screen prompts.

Note: Recalibrate before each use.
Open the PNDbotics app and tap Setting.
Tap Whole Body Tracking, enter the robot IP 192.168.XX.XX and port 12070, then tap Connect to start streaming. (IP and port are saved for next time.)
Check the preview: the virtual skeleton should follow your motion smoothly.

When finished, tap Disconnect to stop sending data to the robot.

Visualization preview

Install and launch Foxglove Studio on your PC.
Sign in and click Open Connection.
Connect via WebSocket: ws://localhost:8765 (replace localhost with the robot IP).
Open the 3D panel settings.
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": {}
}

Calibration

Hold the right controller Home button for about 3 seconds to reset position.
Keep the calibration pose (standing or seated, choose one): arms parallel to the ground, controllers held with palms facing inward, then press A on the right controller.
In Foxglove, the robot model should follow your motion. Recalibrate if the pose looks wrong.

Attention

After calibration, keep both feet fixed during teleoperation.
To move, disconnect teleoperation first, move, then recalibrate.

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

xbox

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

Hand mapping on the real robot

Right controller A: calibration
Right controller B: disconnect teleoperation
Right controller Home: reset VR position
Right controller A touch: right thumb rotation
Left controller X touch: left thumb rotation
Right Trigger: right thumb/index open/close
Left Trigger: left thumb/index open/close
Right Grip: right middle/ring/little finger open/close
Left Grip: left middle/ring/little finger open/close

Troubleshooting

Symptom	What to check
Body tracking won't start	Return to the PICO Motion Tracker app; confirm all 5 Trackers are connected and calibrated.
Cannot send control data	Verify IP and port, and that Connect was tapped.
Preview skeleton stutters	Brief signal occlusion; stand still for a few seconds—tracking usually recovers.
App crashes	Reopen the app; the system clears background memory automatically.
Tracker won't connect	Ensure Bluetooth is on in the headset; restart the Tracker and try again.

Last updated: 2026-05-29