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🎥 VR Immersive View: Real-Time Feed from Adam Head Camera

View the Adam robot’s first-person perspective in real time through a VR headset for an immersive teleoperation experience.

Currently supported only on Adam robot versions equipped with the Zed Mini camera.

🛠️ Environment Requirements

🔗 Device Connection Topology

  • Windows PC connects to the network port on the back of the Adam robot via Ethernet
  • Windows PC connects to the Meta Quest 3 headset via USB 3.0 data cable

🚀 Start Zed Mini Video Stream on Jetson Orin

Set the network card IP of the Windows computer (connected to Adam) to 10.10.20.110/24

ping 10.10.20.127 # Test network connectivity
# Log into NUC and download zed-sdk
ssh pnd-humanoid@10.10.20.127
cd Documents
wget https://gitee.com/clvhao/zed-sdk/repository/archive/dev_pnd.zip

# Log into Jetson Orin
ssh pnd-humanoid@10.10.20.126
cd Documents
scp pnd-humanoid@10.10.20.127:/home/pnd-humanoid/Documents/dev_pnd.zip .
unzip dev_pnd.zip
cd zed-sdk-dev_pnd/camera\ streaming/sender/python
python streaming_sender.py

💻 Enable Headset Preview on Windows

Configure and connect Meta Quest Link and Air Link

# Open a terminal on Windows
curl -o pnd_vr_app.zip https://pndwiki.oss-cn-beijing.aliyuncs.com/sdk_adlskjfas412838_sakjfhrjdsaljf_skfj3jskdjfd32-38439/zed_stream_local20.zip
tar -xf pnd_vr_app.zip
cd zed_stream_local20
& '.\My project.exe' # Or double-click to open My Project.exe

❓ FAQ

If the system prompts: “No calibration file found for SN xxxxxxxx. Downloading...”

Please visit ZED calibration to download the camera calibration file corresponding to your Zed Mini serial number (xxxxxxxx), and save it to the specified directory on the Orin platform.

Last updated: 2025-11-27