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VLA Pipeline basic software

Goal: see both xArm control boxes, all five cameras, and the connected Quest headsets from the workstation. Finish equipment and connections and shared software setup first. Keep motion disabled during these connection checks.

Before powering the equipment, complete the pre-power inspection with the installer.

1. Open each arm in UFACTORY Studio

UFACTORY Studio is the manufacturer's graphical control interface. Use a browser on the workstation; the control box serves the interface.

  1. Obtain the current address of each control box and match it to rig A or rig B. The box label gives its factory address; use the owner's record if it has changed.
  2. Have the installer put the workstation and control boxes on the same network range, with a different address for every device. If the boxes share a factory address, configure them one at a time.
  3. Open http://<CONTROL_BOX_IP>:18333, replacing the placeholder with that box's address.
  4. Repeat for the second box. Record the displayed device identity, firmware version, and any reported errors.

Expected: each address opens the intended arm's Studio interface. Leave enabling, jogging, and resets to the supervised readiness check. Firmware updates are a separate maintenance task, not a connection test. See UFACTORY's browser connection instructions and Studio documentation.

2. Identify the five cameras

Follow the RealSense Viewer check. Record rig A wrist — D405, rig B wrist — D405, and the positions of the three D415 scene cameras. Confirm all five views are available together.

3. Check Quest USB connections

For a wired developer connection, follow Meta's device setup. The headset's account needs verified developer access and developer-team membership before enabling developer mode.

On the Ubuntu workstation, install Android's USB permission rules:

sudo apt update
sudo apt install android-sdk-platform-tools-common
id -nG

If plugdev is missing from the group list, run the following as your normal login user, then log out and log back in:

sudo usermod -aG plugdev "$USER"

These steps follow Android's Ubuntu USB setup. Download SDK Platform Tools for Linux, extract the archive, and open its platform-tools folder in Terminal. Android Studio is not needed for this connection check.

Connect a headset with its USB data cable. Put it on and approve USB debugging for this workstation, then run:

./adb devices -l

Expected: a serial followed by device for each attached headset. unauthorized means the headset has not approved the connection; no permissions points to the Ubuntu USB setup above. If no device appears, check the data cable and developer mode. Label each headset's rig assignment; this check establishes USB access, not a teleoperation session.

Next: Hardware readiness.