Glossary and support¶
A lookup appendix shared by both editions: terms, feedback channels and related repositories. The Developer Kit's RobotConfig options and SDK entry point are in RobotConfig options; for errors see the Developer Kit's Troubleshooting or the Backpack Kit's Troubleshooting.
Glossary¶
| Term | Meaning |
|---|---|
| XTac UMI G1 | The wearable UMI data-collection gripper, the sensor carrier shared by both editions; see XTac UMI G1 |
| Backpack | The Backpack Kit's collection unit: an RK3588 compute node that the grippers and the headset plug into and that runs XTac UMI Collector; formally the XTac UMI Backpack, see The XTac UMI Backpack |
| XTac UMI Collector | The collection software on the backpack: it takes in the cameras, the gripper MCUs and the headset pose, and handles recording, replay, export and device management; version baseline 0.4.3, the device's System page is authoritative |
| Console | Collector's browser UI, opened from a tablet, phone or PC connected to the backpack; the live monitor, projects and system pages all live there |
| Project / task / episode | How the Backpack Kit organizes data: tasks under a project, each task carrying a LeRobot language instruction, and each start-to-stop recording being one episode |
| MCAP | The raw recording format of each Backpack Kit episode, storing cameras, encoders, IMU, poses and events by topic; the LeRobot export is converted from it |
| OTA bundle | The Backpack Kit's Collector upgrade package (.tar.zst), uploaded, verified, applied and rebooted into on the console's System → System update page, with rollback to the previous version. Gripper firmware OTA on the Developer Kit is in Firmware OTA upgrade |
| SoftAP | The backpack's own always-on Wi-Fi hotspot, SSID xense-<last 6 of the serial>, 5GHz only, gateway fixed at 192.168.44.1; the fallback entry point that does not depend on any site network |
| TacCap | The name inside the package xense.taccap, the robot type taccap_gripper and the backpack's body label (Tactile Capture); the product name is XTac UMI G1 |
| UMI | Universal Manipulation Interface, the handheld leader-gripper data-collection paradigm |
| Leader / Follower | Leader gripper / follower gripper; the serial number's patch letter m = leader, s = follower |
| V2.1 (firmware) | The firmware's command set version, i.e. which commands it implements. Not the build number (that is leader ≥ 1.2.0 / follower ≥ 1.1.0, and higher builds support it too), and not the frame format (which is V1.8). The travel-calibration command arrived in V2.1 → Three numbering schemes: V2.1 is a command set, not a firmware version |
| Odd is left, even is right | The last digit of the 4-digit serial number: odd → left, even → right; grippers, sensors and trackers all follow it, see Serial numbers and side identification |
| GSPS | Visuotactile sensor (one on each finger), serial number GSPS01... |
| XC | The wrist UVC camera, serial number XC... |
| XTac UMI XR | The VR client app on the Pico4U headset (formerly XenseVR-Toolkit); it sends the headset and tracker poses to the collection unit and establishes the world frame at launch; see Pico4 headset and tracker setup |
| XenseVR PC Service / runtime | The service that receives the headset pose, XTac UMI XR's counterpart on the collection unit (the service name did not change with the app): on the Developer Kit a daemon on the collection PC that you start by hand; on the Backpack Kit built into Collector |
| tcp | Tool Center Point, the end-effector pose (tcp.x/y/z + the 6D rotation r1..r6); the frame is in Coordinate frames |
| 6D rotation | The first two columns of the rotation matrix R (world ← body): r1..r3 = first column = the body X axis expressed in the world frame, r4..r6 = second column = the Y axis. The third column is their cross product and can be recovered → the convention in detail |
| shifted-frame | Shifted-frame pairing: the observation at t-1 goes with the action at t |
| self-driven | The device itself produces both the observation and the demonstrated action; there is no separate teleoperation end |
Support and feedback¶
If you hit a problem:
- Check troubleshooting first: the Developer Kit's Troubleshooting (it includes the FAQ), or the Backpack Kit's Troubleshooting.
- Problems with the documentation's content, links or examples go to the docs repository Issues.
- For hardware, firmware, missing items or repairs, contact our after-sales team with the device SN.
Please include:
- The complete error text, plus the matching log:
- Developer Kit: attach the complete log file for that run,
~/xenselogs/session_<timestamp>.log(the whole file, not just the last few lines on screen); see Troubleshooting. - Backpack Kit: attach a screenshot of the console's system-log panel and note roughly when the error appeared; the panel does not export a log file, so there is none to look for on the device.
- Developer Kit: attach the complete log file for that run,
- Device identity: on the Backpack Kit, copy the device SN, the Collector version and each gripper's SN / firmware version from the console's System → Device info page; on the Developer Kit, the side / role / firmware_sn output from
scan_grippersand the output of the command in How to check versions. - Steps to reproduce, the full command or console actions, single or bimanual, and whether the tracker was enabled.
- For anything involving cameras or hardware assembly, photos of the device connections and of what looks wrong.
References¶
The repositories below belong to the Developer Kit (apart from the gripper models) and are all open source except xensesdk, whose license is not stated; the Backpack Kit's collection software is not open source and is not listed.
| Resource | URL | Notes |
|---|---|---|
Data-collection main repo xense-taccap-lerobot |
https://github.com/XenseRobotics-AI/xense-taccap-lerobot | The Developer Kit's collection software; ships the device notes and the CHANGELOG |
Gripper SDK TacCap-Gripper |
https://github.com/XenseRobotics-AI/TacCap-Gripper | Submodule third_party/taccap-gripper/; SDK docs in docs/ |
Tracker PC service XenseVR-PC-Service |
https://github.com/XenseRobotics-AI/XenseVR-PC-Service | Not a submodule; installed as a .deb into /opt/apps/roboticsservice, see One-shot install |
Visuotactile sensor SDK xensesdk |
https://github.com/XenseRobotics/xensesdk | Docs site |
Gripper models XTac-UMI-Description |
https://github.com/XenseRobotics-AI/XTac-UMI-Description | URDF, Xacro, MJCF and USD models of the leader (left / right) and follower grippers, including the follower flange adapter; for ROS 2 and plain Python |
Local viewer xense-lerobot-viewer |
https://github.com/XenseRobotics-AI/xense-lerobot-viewer | Open source; browse a local LeRobot dataset in the browser |
Documentation version and matching software¶
This manual is versioned on its own; the version in the page footer is the current documentation version. Each documentation release matches one set of versions of the four pieces of software below, and all four are pinned and updated together. If what is on your devices differs from this table, upgrade to match it, or use the documentation version that matches your devices.
| Docs version | xense-taccap-lerobot (Developer Kit collection) | XTac UMI XR (headset app) | XTac UMI Collector (Backpack Kit collection unit) | TacCap-Gripper SDK (gripper SDK) |
|---|---|---|---|---|
| v0.1.2 | v0.1.1 | 0.3.6 | 0.4.6 | 0.4.3 |
| v0.1.1 | v0.1.1 | 0.3.3 | 0.4.3 | 0.4.3 |
| v0.1.0 | v0.1.0 | 0.3.2 | 0.4.3 | 0.4.1 |
The gripper firmware ships with the SDK (SDK 0.4.3 ships leader 1.2.6 and follower 1.2.16) and is not listed separately. How to upgrade each component is in Developer Kit · Versions and upgrades and Backpack Kit · Versions.
What this manual covers¶
This manual covers the path from the data-collection gripper hardware to data on disk: MCAP recordings and the LeRobot export on the Backpack Kit, a LeRobotDataset on the Developer Kit. Model training, inference and deployment are out of scope; see the separate documentation of those projects.