EHI Interface User Guide

1. Product Introduction

EHI (Embodied Human Interface) is the interactive entry point of the Galaxea system SDK host computer, designed to provide users with convenient information display, task distribution, and data interaction functions. It mainly serves two types of users: data collectors (Data Collection Teleoperation Interface) and algorithm engineers/researchers (Task Orchestrator). Its core modules include official SDK one-click startup, data collection teleoperation panel (optimized data collection experience), and task management panel (task management interface).

2. Deployment Method

2.1. Environment Configuration Support

2.1.1 Robot/System End Environment

Robot-side environment variable configuration (SDK V2.1.5+), configure export SYSMGR_AGNET_IP=robot network card IP in ~/.bashrc;
Robot-side daemon configuration:
```
sysmgr_daemon app release note
```
Install/Run RosBridge
```
sudo apt install ros-humble-rosbridge-suite
```
> If the ATC version is incompatible, please run manually:
```
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
```
Or add it to your custom one-click startup script.

2.1.2 EHI Application End Environment

Linux/Windows browser end: Node.js 18+ version; modern browsers such as Chrome/Firefox/Safari/Edge installed
Pad end: Android system

2.1.3 Full-body Teleoperation Package Remote Startup Prerequisites

Versions prior to V2.1.5 do not support remote startup of the full-body teleoperation package (the configuration folder directory name of the functional package in the SDK is temporarily not supported by EHI, and cannot be automatically indexed by the server during remote startup). To remotely start the full-body teleoperation package, the following modifications are required:

The SDK is installed by default in /home/nvidia/galaxea.

cd ~/galaxea/install/startup_config/share/startup_config/sessions.d/ATCStandard
mv R1PROVRTeleop.d R1PROVRTeleop.d_backup
cp -r R1PROVRTeleop_whole_body.d R1PROVRTeleop.d
cd ~/galaxea/install

2.2 Application Deployment Process

2.2.1 Android Pad End

Install application
Open the application

2.2.2 Linux System

Executable file

Download Galaxea_EHI_xxx.AppImage file
(First startup, install system dependencies) Run
```
sudo apt install fuse libfuse2
```
(Permissions required for first startup) Run
```
chmod +x Galaxea_EHI_xxx.AppImage
```
Finally run the following command:
```
./Galaxea_EHI_xxx.AppImage
```

2.2.3 Windows System

Browser

Download the compressed package and extract it
Double-click start.bat
If encountering crashes, install Nodejs file node-v22.19.0-x64.msi.

2.3 How to Use EHI

2.3.1 SDK One-click Startup

Connect to the robot and confirm information
- Enter robot IP
- Click Connect
- Check if robot information is correct
- Confirm
(Optional) Official SDK OTA Update
- Click the update button
- Select ATC version in the dropdown box
- Click the deploy button
- Wait for completion
Select SDK Sub-package
- Select SDK sub-package and click
- Confirm the module is correct
- Click the start button
Terminate SDK Sub-package
- Click [Terminate Started Module]
- Click [Confirm Stop]

3.3.2 Data Collection Teleoperation Panel

Note: You can only enter the data collection teleoperation panel after starting the [VR Teleop] sub-package

(Required for first startup) Login to EDP Account:
1. Click the gear icon in [Operation Information]
2. Click [Configure EDP]
3. Enter EDP space (galaxea-ai), username (R&D personnel/system administrator permissions), password. Click Confirm.
(Required for first startup) Configure robot IP and establish connection:
1. Set robot IP:
  - Find the "Robot IP Address" input box in the "Connection Settings" card on the right
  - Enter the robot's IP address
  - Click the "Update" button
2. Confirm connection status:
  - Observe the connection status display
  - After successful connection, "Connected" (green status) will be displayed
  - Failed connection displays "Not Connected" (red status) Troubleshooting:
  - Check if the SysMgr service on the robot side is started
  - Check network firewall settings
Add Operator:
1. Open operator management: Click the settings button in the operation information card on the right
2. Add new operator:
  - Click the "Add Operator" button
  - Enter the operator code in the pop-up dialog box
  - Click the "Confirm" button
3. Verify operator: The system will automatically verify the validity of the operator code from the EDP system;
4. Successful addition: After verification, the operator will appear in the list Notes:
  - The operator code must exist in the EDP system
  - The EDP account must be configured before adding an operator
  - Operator information will be saved locally, no need to re-add on next startup
Select/Delete Operator:
1. Select operator:
  - Find the target operator in the operator list
  - Click the operator card to select
  - The selected operator will be displayed in the operation information card
2. Delete operator:
  - Click the delete button (trash can icon) next to the target operator in the operator list
  - Confirm the delete operation
  - The operator will be removed from the local list Function description:
  - Supports multiple operator management
  - Deleting operators will not affect data in the EDP system
  - After selecting an operator, the operator's task list will be automatically loaded
View and Select Tasks:
1. Open task list:
  - After selecting an operator, click the "More Tasks" button in the task information card
  - The system will display all available tasks for that operator
2. Browse task information:
  - View detailed information such as task name, responsible person, schedule ID
  - Confirm if the task configuration is correct
  - Check task status and progress information
3. Select task: Click the target task card to select Task information includes:
  - Task name and description
  - Task owner
  - Total count
  - Schedule
  - Operation information (teleoperation type, location, etc.)
Send task configuration to robot:
1. Confirm connection status: Ensure WebSocket shows "Connected"
2. Send task configuration:
  - Select the target task in the task list
  - The system will automatically construct task configuration data
  - Send the configuration to the robot via WebSocket
3. Confirm successful sending:
  - The system will display a "Task configuration updated" prompt
  - Task information will be displayed on the interface
  - Progress counter will be initialized
Monitor task progress and status:
1. Real-time progress monitoring:
  - Observe the progress bar in the task progress card
  - View completed count/total count display
  - Monitor progress percentage changes
2. Status updates:
  - The system will receive real-time status updates from the robot side
  - Status includes: Idle, Data Collection in Progress, Cancelled
  - Status changes will be prompted via Toast messages
3. Progress visualization:
  - Progress bar will update in real-time
  - A celebration animation will be displayed when the task is completed
  - Progress data will be saved locally
4. Video stream: Real-time video stream monitoring (ROSBridge)
5. Frame rate anomaly alert:
  - If camera frame rate anomaly alarm information is detected, it will remind to discard不合格data Status description:
  - Idle: System ready, waiting for task to start
  - Data Collection in Progress: Robot is executing data collection task

3.3.3 Others

Chinese/English switching
Theme switching (.dark/.light)
Sync EDP data collection upload progress Data collectors can get the current body collected count and EDP upload progress in the EHI progress slot.