PICO 4 Ultra

After completing Run Teleoperation Program, proceed with device-side configuration.

Hardware

Device	Quantity	Description
PICO 4 Ultra Enterprise	1	VR headset running this application
PICO Tracker 2.0	5	Wear on both wrists, both ankles, and waist

Official reference: PICO 4 Ultra User Guide

Press and hold the power button on the right side of the headset for 3 seconds to power on.
Put on the headset and adjust the top strap and rear dial for a secure, comfortable fit.
On first boot, follow the on-screen prompts to set language, Wi-Fi, and the guardian boundary.
Guardian boundary: Under boundary settings, choose Stationary boundary (recommended for standing use).
Network: Ensure the headset and robot are on the same Wi-Fi network.

Open the PICO Motion Tracker app on the headset.
Press and hold the power button on the side of a 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 pairing succeeds, the LED stays solid blue.
Repeat for all 5 Trackers.

Tip: After the first successful pairing, powering on the Trackers will reconnect automatically.

Wear devices: Secure all 5 Trackers on the left wrist, right wrist, left ankle, right ankle, and waist (centered below the navel).
Power on: Turn on the PICO headset and all 5 Trackers.
Pose calibration: Open the PICO Motion Tracker app, tap Calibrate, and follow the on-screen prompts. (Recalibrate before every use.)
Start tracking: Open the PNDbotics App, tap BodyTracker to enable full-body tracking.
Connect: Enter the robot IP address 192.168.XX.XX and port 12070, then tap Connect to start streaming. (IP and port are saved for the next session.)
Verify: Check the preview and confirm the virtual skeleton follows your motion smoothly.

To stop: Tap Disconnect when finished.

After enabling Foxglove visualization, you can begin calibration.

Calibration pose:

VR calibration pose

Calibration steps:

Press and hold the right controller function key for about 3 seconds to reset position.
Hold the calibration pose and press A on the right controller to finish calibration.
The Adam robot model in Foxglove will follow your motion.
Press B on the right controller to disconnect teleoperation.

Important

After calibration, keep both feet fixed when teleoperation starts.
To move to a new position, disconnect teleoperation first, move, then recalibrate.

Use the PICO controller ray to point and click the following controls:

Section	Control	Purpose
Robot selection	Adam_U / Adam_Pro	Switch target robot model
Tracking mode	BodyTracker	Start full-body capture
Connection	IP and port fields	Enter robot network address
Connection control	Connect / Disconnect	Start or stop data streaming
Options	Hand tracking	Enable/disable finger joint data
	Controller mode	Preview controller poses
	Virtual robot	Show 3D robot model in view
	Virtual skeleton	Show body tracking nodes
	Pose preview	Expand or collapse side preview

Symptom	What to check
Body tracking won't start	Open PICO Motion Tracker and confirm all 5 Trackers are connected and calibrated.
No control data sent	Verify IP and port, and that Connect was tapped.
Choppy skeleton in preview	Brief occlusion is normal; stand still for a few seconds—tracking usually recovers.
App crashes	Reopen the app; the system will clear background memory.
Tracker won't connect	Ensure Bluetooth is on and restart the Tracker.

Network: The PICO headset and robot must be on the same LAN.
Calibration: Run calibration every time after a cold start for accurate tracking.
Battery: Trackers take about 2 hours to charge fully and run about 5–6 hours on a full charge.
Recovery: If tracking is lost, avoid violent movement; hold your pose for a few seconds for automatic reacquisition.

Last updated: 2026-05-12