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Exosphere

by Synthiam

Exosphere combines telepresence, artificial intelligence, machine learning and human assistance to give autonomous behaviors to cloud robotics.

Requires ARC v68 (Updated 11/13/2022)

How to add the Exosphere robot skill

  1. Load the most recent release of ARC (Get ARC).
  2. Press the Project tab from the top menu bar in ARC.
  3. Press Add Robot Skill from the button ribbon bar in ARC.
  4. Choose the Remote Control category tab.
  5. Press the Exosphere icon to add the robot skill to your project.

Don't have a robot yet?

Follow the Getting Started Guide to build a robot and use the Exosphere robot skill.

How to use the Exosphere robot skill

Exosphere is a game-changing product that allows users to control robots remotely to complete tasks anywhere with an internet connection. You can use your phone or tablet to control a robot or add your robot to be controlled by others. This product gives you the power to help make the world a safer place and improve business efficiency.

Exosphere gives any robot the ability to execute autonomous tasks or telepresence capabilities in the workplace or home with human intelligence. Exosphere bridges the gap between robotics, machine learning, and artificial intelligence.

Who Is Exosphere For? It’s for any robot to be remotely controlled by a human to achieve tasks or become a telepresence host.

The way we think is being taught to AI algorithms to include moral hesitation, judgment, and responsibility. This is why AI greatly benefits from human interaction. With nearly 3 million robot connections on Synthiam’s platform, when the exosphere is publicly released, robots from around the world are added daily with new tasks. These tasks are created for real robots with real problems to solve. This gets AI out of the lab and into the real world.

Exosphere can control as much or little as necessary to help robots achieve their goals, even if that means using human intelligence to fill in the 10% edge cases that robots can’t do.

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How Does It Work?

  1. A robot is instructed to execute a task.
  2. The task is submitted to Exosphere as a contract request.
  3. AI/ML and humans provide a confidence bid to win the contract.
  4. If AI/ML can’t control the robot to perform a task successfully, another contract is issued to a human operator to take over or assist the robot. In turn, training the global AI knowledge base for future task requests.

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Main Window - Control Tab

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1. Control and Log Tabs This selects between the Control and Log sections of the Exosphere Skill main window.

2. Task Description Field Enter the description of the task you are generating, with detailed instructions for the user who will be accepting the task.

3. Submit/Cancel Task Button Once the task is submitted, a remote operator will take control of the robot. It is highly recommended to monitor the robot remotely to avoid hazards to the robot or damage to the environment. Once a task is submitted to the Synthiam servers, website users will be notified. You can also use this button for an emergency stop to cancel the task when it's running.

4. Task Details Field Displays the time the task was requested, who picked up the task, and when.

Main Window - Log Tab

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1. Log Selection Drop-Down This selects the level of information you would like to see in the Log Display window. Verbose, Debug, Error, or None.

2. Clear Log Button Clears the Log Display Window.

3. Log Display Window Displays the Log information when errors occur. The amount of information is tailored by the Log Selection Drop-down.

Configuration - General Tab

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1. Robot Model and Description Write in your Robot's Make, Model, and Title. Then add a description of it which describes the Robot's qualities.

2. Session Password and Minimum Rating Optionally set a password and a minimum rating a user must have to control your robot. Note: These features have not been implemented yet

3. Maximum Joystick Drive Speed  Use the drop-down to set the maximum speed of your robot being controlled by the Joystick. If your robot is connected to ARC, you can use the on-screen Joystick to test the speed.

4. Keyboard Drive Speed  Use the drop-down to set the maximum speed of your robot being controlled by the Keyboard. If your robot is connected to ARC, you can use the "Test Forward" and "Stop" buttons to test with.

Configuration - Scripts Tab

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1. Task Created, Accepted, and Completed Scripts This section allows you to add scripts that will execute when the following conditions are met: your task is created, accepted, or completed.

2. User Defined Scripts Add additional scripts to your generated Exosphere task. They will show up as playable scripts on your generated Task in the order you have them added.

Configuration - Advanced Tab

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1. Audio If enabled, this section allows the user who accepts your task to hear through your robot's microphone with the settings you configure. This allows you to communicate with the user in real-time.

2. Text to Speech Check-box Once enabled, the user can write text responses that will be converted to audio. The audio will come out of your robot's speaker.

3. Video Settings You can select an installed video device for the user to use for real-time visual feedback. You can use the check box to send video tracking information to the user as well.

4. Telepresence Mode Enabling this allows two-way communication between the remote operator and the robot. The remote operator's camera video and audio will be displayed in fullscreen on the robot. This allows the robot to approach someone and have a two-way conversation with the remote operator. At the end of the session, the "rating" window is not displayed to the remote operator. There is a tutorial on configuring a robot for exosphere telepresence by clicking here.

5. Experimental Features These are internal development features. These features may not work and are not documented.

Configuration - User Access Tab

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1. Username Field This field allows you to write in a username.

2. Access Type Once the add button is pressed, it will add the inputted username into your Access list and assign it to the selected access type (in the drop-down).

3. Access List This window displays the users you have added and their access type.

How to Use the Exosphere Skill

  1. Add the Camera device skill to your ARC project (Project -> Add Skill -> Camera -> Camera Device).

  2. Add a Movement Panel skill to your ARC project that matches your robot (Project -> Add Skill -> Movement Panels).

  3. Add the Exosphere skill to your ARC project (Project -> Add Skill -> Machine Learning -> Exosphere).

  4. Add a brief description of your task to the task description field in the Exosphere skill main window.

  5. Click the Submit Task button. The task is now on the Synthiam servers awaiting a user to pick it up.

  6. Once the task is completed. Rate the user in three areas on how well the task was completed. 5 stars = the best job. This will help advance the machine learning database with reinforcement learning.

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Compatibility

With the onset of pandemics like Covid-19, Exosphere needs to have compatibility with existing robots to leverage their ability with human operators while training the knowledge base for future autonomous behaviors. Exosphere was designed as a web service & skill to allow connections from existing robots or control software, such as ROS or ARC. However, it only takes minutes to add any robot to Exosphere with Synthiam’s ARC software. As per the Synthiam way, we’ll be adding many tutorials that demonstrate how to add various robots to Exosphere using ARC.


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PRO
USA
#1  

nounASTRONOMY the outermost region of a planet's atmosphere.

Looks like Synthiam is going to space. Can we all come ?

PRO
USA
#2  

.....Machine learning....now you have my attention..........

PRO
USA
#3  

so what do we do with this?

#4   — Edited

Maybe they are trying to tell us something. like get lost ie. lost in space.

PRO
USA
#5   — Edited

??Cloud based machine learning?? My guess.  Eventually every object known to man will be cataloged and easy for machines to know what they are "looking at" plus all the relevant description/use of that object i.e proper use/s.

The Matrix...but instead of Neo, its a robot.."I want to learn jiu jitsu" xD

#6  

I wonder if we have to worry about agent smith. aka agent Sures.

#7   — Edited

"Shall we play a game?" Wargames

PRO
USA
#8   — Edited

what was that  video? and who is agent smith?

#9   — Edited

Dr Smith? Lost in Space.

Just saying maybe we should be worried more  about the machines learning then humans. Lol.

#10  

No Dave  it is the "agent smith"  you know black suit and dark glasses in the Matrix.  the movie Dave is showing EZang60 is about a kid who connects to what he thinks is a game machine but he connects to a defense computer and just about starts a thermonuclear war for real.

#11  

Nallycat, Oh ya! How could I forget that character! Thanks!

#12  

Wont be long now....Skynet will have its day...

PRO
USA
#13   — Edited

...could be an echo from the telepresence robot project synthiam was working on....maybe streaming audio and video for client and server connection? Controls for a long distance robot?

PRO
Synthiam
#14  

Keep the guesses coming:)

PRO
USA
#15  

version 3 of Exosphere, what do we do with it?

PRO
USA
#16   — Edited

This must be a 2020 great project, DJ has us guessing.

We are waiting, we are staying tuned, lol

PRO
USA
#17  

Quote:

Exosphere combines artificial intelligence, machine learning and human assistance to give autonomous behavior to cloud robotics.

PRO
USA
#18  

what happened to the Exosphere?

sounds exciting.

When will hear about this?

PRO
Synthiam
#19  

As stated on the exosphere plugin details, development is in progress.

PRO
USA
#20  

development is in progress.

PRO
USA
#21   — Edited

It is 4/3/2020 now

Hope all are ok

downloaded your new version 40

Any instructions yet?

PRO
Synthiam
#22  

Updated with new server mapping

PRO
Belgium
#23  

no incomming from synthiam server,new error?

PRO
Belgium
#24  

also the arrows keys are not desame as mine.the bot goes only one direction on the web.

PRO
USA
#25  

set it up I will try it Nomad

EZAng

PRO
USA
#27  

Only the camera works, no movement of robot

Try making your robot walk

PRO
Belgium
#28  

the robot turns only to the right.it got wheels.adventurebot.

PRO
USA
#29   — Edited

over here, looks like only the camera moves in a circle

I see the robot, no moving

do you have a JD robot?

PRO
Belgium
#30  

that is correct.the robot turns only to the right.its an adventurebot.

PRO
USA
#31   — Edited

oh, I see the camera going in a circle,

use a walking robot with a camera

PRO
Belgium
#32  

oka moment.i set a jd.

PRO
Belgium
#33  

jd is set up.how do i ad a task?

PRO
USA
#34  

It worked that time, go into Blockly and do a auto-position wave

PRO
USA
#35  

give me a good rating  :-)

PRO
Synthiam
#36  

Use the latest exosphere plugin update. It has a feature in the config menu to test the joystick speed. Ensure your joystick and speed is correct before publishing. You can make sure it doesn't spin in a circle lol

PRO
Belgium
#37  

dj

in the Movement Panel are 3 speed settings.forwart/backwarts/stop. witsh one do i need in the config?

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PRO
Synthiam
#38  

You need to update the plugin to get the latest update

PRO
Belgium
#39  

ah i just had an update some 2 houres ago.and here's allreddy another. i get the adventurebot going straigh forwart only using 180 forwart speed.?

PRO
Belgium
#40  

i see where the error starts.in the config page for setting speed.you have to click that with you mous button. that is diff when using the arrow key's on your board.i cant get the setting good.

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when i set the settings for speed so the adventurebot go straigh forwart in my arc, it changes when using exosphere  .

PRO
USA
#41   — Edited

Good morn, I noticed you said you would explain ROS

I looked it up,

For Linux -  I am windows 10   :-(   very happy ARC uses windows...

Robot Operating System (ROS)

The ROS Development Studio At The Construct, we have believed in this approach since 2015 and developed a platform that integrates all those tools. The ROS Development Studio (ROSDS): Runs on the cloud Provides a robotics development environment with simulations that already work Allows the transfer to real robots in a standardized procedure And, of course, it is based on ROS! When you create a ROS program in the ROSDS, you can use any of the already provided simulation, or you can create your own. What is interesting is that, when you make your code work with the selected simulation, that work can be shared and reproduced by anyone under the same exact conditions. If it worked for you, it will work for anybody else that gets your ROSDS project. and a lot more...

EZang

PRO
USA
#42   — Edited

Dj said he would explain

PRO
Belgium
#43  

i set the speed to 180,it drives straigh forwart except on the web page.

PRO
USA
#44  

Your camera gets me dizi - goes round and round

PRO
Belgium
#45  

thats the problem.i cant get it drive straigh on the web page. when i click on the settings page it drives straigh.

PRO
USA
#47  

Hi Nomad, where did you go?

I am ready to test your robot now

EzAng

PRO
Synthiam
#48   — Edited

Nomad - can you do me 2 favors?

  1. Can you send me your robot project that is having trouble going Forward with exosphere?

  2. Can you tell me what button you use for forward from this picture?

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#49  

@DJ.... On a separate note. Will Exosphere be expanded down the road to accommodate other types of robots? I am interested in using it to control a robotic arm to serve drinks, food or to perform other tasks possibly in my workshop....

PRO
Synthiam
#50  

It works with absolutely any robot:)  just add the exosphere control to your robot and start using it.

It’s awesome. I’m gonna start using it at the office to get my drinks haha. I’ll rig something up tomorrow.

gonna use your inmoov one day to! You can add custom buttons to move the arms and such

#51  

@DJ.... Ok then... Inmoov will be cooking me dinner soon... Thank GOD I printed him out of ABS... Wouldn't want him melting over the stove... cool Still going to have to use exosphrere to teach him how to use a fire extinguisher, though....

PRO
Belgium
#52  

hi all

dj i use the ( click to use arrow keys ) below. i send my project

i had to get some sleep.

PRO
Synthiam
#53  

Nomad, what arrow key makes your robot go forward? it should be the one pointing up.

richard, drinks... dinner... sounds like a robot date! That’ll solve half of my isolation challenges lol.

PRO
Belgium
#54  

dj yes arrow key forwart is up.i also notest the adventure turn left and right is way to fast. cant get it to line up.

thank you

PRO
Synthiam
#55  

The instructions explain how to adjust the maximum speed. For that, you’ll have to read and follow the instructions. There’s even a pop up that asks if you’ve tested the speed with when editing.:) you’ll figure it out. Have faith in you

#56  

@Richard, what did you print out of ABS? God or inmoov? I knew you were a powerful dude but this? LOL

PRO
Synthiam
#57  

Hahaha - If God 3d printed the universe, it definitely took more than 7 days:D. With the corvid-19, we might be in a failed print

#58  

I'm sure he has a better 3D printer then we could ever dream of creating. What's the use of being God If everyone has the same stuff to make what you do?

PRO
Synthiam
#59  

Skillzzzzzzz.... it's all about the skillz

PRO
USA
#60  

Nomad are you awake yet?

EzAng

PRO
Belgium
#61  

hi

i am awake.watshing mike tyson.xD

PRO
USA
#62  

How did it go today?

PRO
Belgium
#63  

i am taking a few days off.no robotics or 3d printing. and waiting for parts.

PRO
USA
#64  

It is good to take a break, refresh yourself

it is 10:30 pm  here Wednesday.

I should be back tomorrow

PRO
USA
#65   — Edited

Good morn 9  hour later, Nomad, 7:32 am here Thursday

ready to test your robot if you want

EzAng

PRO
USA
#66  

Anyone want me to test your robot?

EzAng

PRO
USA
#67  

I did the advance a few time, what is next?

I have my robot waiting for someone to activate it

EzAng

PRO
USA
#68   — Edited

Someone completed it - great!

EzAng

PRO
Synthiam
#69   — Edited

Bragging but not bragging - ARC is amazing. 3 robots running with 5 cameras for the Exosphere playground and check out the CPU/Memory usage... 50mb per robot ain't too shabby:D:D

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PRO
USA
#70   — Edited

good job nallycat but you crashed into them

try again please EzAng

#71  

@EZAng  Thanks for telling me I thought crashing into them was acceptable, I was not sure how the program would know I selected the card.  lots of fun.  how do you indicate you select the card? Tell DJ he is Bragging.:p

PRO
USA
#72  

great stuff DJ -  CPU/Memory usage... 50mb per robot

EzAng

PRO
USA
#73   — Edited

my fault, sorry, nallycat my speed was to high, try again please

get as close as possible where you see the color most

EzAng

#74  

@EzAng what do you do just stop in front of the card.  and then move on?

PRO
USA
#75   — Edited

that would be good

charging the robot

PRO
USA
#76  

Hi Nomad, nothing was moving

EzAng

PRO
Belgium
#77  

hi EzANG

indeed.i am using roli.moment.

PRO
Belgium
#78  

you can test now ezang.

PRO
Belgium
#79   — Edited

deleted post.was ezangs robot.

PRO
USA
#80  

You did it Nomad, can you hear me talk?

EzAng

PRO
Belgium
#81  

yes i can hear you talk.just a little distortion in audio.

PRO
USA
#82  

Nomad no movement, camera is pointed to a small robot

EzAng

PRO
USA
#83  

sometime is wrong, when I click to star it goes to a different page

PRO
Belgium
#84  

i set the speed at highest.try it.

PRO
USA
#85  

still no movement

PRO
USA
#86  

was that the robot to reach?

EzAng

PRO
USA
#88  

So the was the robot with a sign that says "robot"

Great

EzAng

PRO
Belgium
#89  

here's where i think the confusing starts.in dj video,he set the left speed settings at 50 . adventurebot turns in circles and roli almost dont move.i set bolt at 200 now.

PRO
USA
#90   — Edited

my adventureBot I set max speed 100

you set that in exosphere

PRO
USA
#91  

Only Nomad, and myself are doing this, one time nallytcat - of coarse the admins

Where is everyone else?

EzAng

PRO
USA
#93  

In exosphere I put 100

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PRO
USA
#94  

up at the top, scripts tab  - auto-position wave or whatever....

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PRO
Belgium
#95  

EzAng

thank you for the pics.

PRO
USA
#96   — Edited

Pictures are better then words, :-)

EzAng

PRO
USA
#97  

I am back if you want to test again Nomad

EzAng

PRO
USA
#99  

that was perfect,

you did set the speed in exosphere, great - you also can test the speed there

EzAng

PRO
USA
#100  

Well we can do it, the 3 DJ made and set our own robot up, what about all the other people here?

EzAng

PRO
Belgium
#101  

i a few minutes i have another test for you. look for the mini robot.xD

PRO
USA
#102  

I did it !!

100% again

We need better obstacles

EzAng

PRO
Belgium
#103  

can you hear the robot?

PRO
USA
#104   — Edited

yes and if you talk I hear you also

All sounds

seems like the app goes right into our home, visual and audio  :-) EzAng

PRO
USA
#106  

I did not hear him, want to try again?

EzAng

PRO
USA
#108  

Yes I hear him, who is the little robot?

EzAng

PRO
Belgium
#109  

thta is robot MINI from ubtecth

PRO
USA
#110  

ok I will kook up on net

EzAng

PRO
Belgium
#111  

its on sale in holland .only for dissabled people.cost 1400 euro + 500 each year to use all apps. way too much.i set him up again so you can see the eyes change hoppefully.lol

PRO
USA
#112  

I can't say hi or anything, but I guess that was good 100%

EzAng

PRO
USA
#113  

Nomad I put my seed down to 75 in exosphere

You did great, do did Dj

need to make a harder one  :-)

EzAng

PRO
Belgium
#114  

okay i change tomorrow the setting to 75.

PRO
USA
#115   — Edited

Ok good night, I know it is late there

DJ try again please or who ever is out there EzAng

PRO
USA
#116  

Thanks DJ , you did it again

EzAng

PRO
USA
#117   — Edited

We need one the picks something up and drops it off in a certain color

or one that pushes a small ball to a destination

EzAng,

PRO
USA
#118  

Anyone test any robots today?

EzAng

PRO
USA
#119  

Happy Sunday Nomad, are you there to test robots on exosphere?

EzAng

PRO
USA
#120  

Anyone out there, test my robot please

EzAng

PRO
Belgium
#121  

hello ezang

robot doesn move.

PRO
USA
#122  

I will put a new charge on the battery, give me a moment, thanks

EzAng

PRO
USA
#123  

Nomad, it says move to the white sheet, then pink sheet, end up at the yellow sheet, don't crash into anything

PRO
Belgium
#124  

i cant see the diff between white and yellow.

PRO
USA
#125  

oh, I will fix, sorry

EzAng

PRO
USA
#126  

I wrote the names of the colors on the sheets

EzAng

PRO
Belgium
#128  

it works great.you can set the words with a fat black marker.

PRO
USA
#129   — Edited

You read my mind, I just did that with a black marker :-)

Did you try the avitar program yet? Works fine

EzAng

PRO
Synthiam
#131  

Funny - except I've been working on this theory before 2015. See this video in my basement dated Oct 28, 2015. Except back then we called it ExoSphere not Exosphere it seems.... I remember the day Alan and I came up with the name - it was in Cuba sitting in a pool having a conversation about it. We wanted something that was bigger than the cloud. Something that fed the cloud. Something that controlled the cloud. Exosphere was born:)

PRO
USA
#132  

Oct 28, 2015, amazing how time passed so fast, now 4/20/2020

I am very happy you followed up with your theory -  You said, something that was bigger than the cloud. Something that fed the cloud. Something that controlled the cloud.

Exosphere was born and we all can participate in this.

Thanks again for such amazing technology

EzAng

#133  

@EzAng Cloudmind looks cool...but Exosphere supports more hardware, and also soon ROS! Which will make even more users participating! What a time to be alive!!:D

PRO
USA
#134  

I believe it, we are in the right pot with DJ at the wheel.

All the best

EzAng

#135  

I am still trying to understand the value of Exosphere. I see EzAng making Nomad's robot wave and I understand it generates a database for Synthiam, but to what end? I'm anxious to see how others implement it to help me better understand. I am sure it will get there so I am along for the rind now. I did the tasks and drove the EZ robots on the site. It was fun as a telepresence exercise.

PRO
USA
#137   — Edited

I keep doing the advance, any other test?

Did the advance again 4/24/2020

EzAng

PRO
USA
#138   — Edited

new test does not work, please check

EzAng

still does not work

PRO
USA
#139   — Edited

@Jeremie/@DJ: I wanted to runaway but at that speed I have doubts If I could reach the door:)

PRO
Synthiam
#140  

Hahahaha - yes. I made a delivery bot so we can move stuff back and forth between offices. Eventually it'll learn the layout of the office and be fully automated!. We're putting a tray on the robot for that usage. I'm modifying it now so you can move the camera up and down. stay tuned

PRO
USA
#141  

sounds good

EzAng

PRO
USA
#142  

where is Jeremy's office?

EzAng

PRO
Synthiam
#143  

I dunno where it is - you'd have to find it. Or, find someone to ask. Follow the instructions

PRO
USA
#144  

How doe you ask:

PRO
USA
#145  

FIY error:

User-inserted image

PRO
USA
#146   — Edited

I am back, try again  try now ptp

PRO
Synthiam
#147  

ptp: That's the temporary error if a task has expired.

ezang: You can figure it out

PRO
USA
#148  

ptp, it is your turn, lol

EzAng

PRO
Synthiam
#149  

It's not hard. Find a person, ask where the office is and go to it.

#150  

I hit jer's foot he did answer?

PRO
Synthiam
#151  

He said you drove into his foot. But you didn't find his office - or ask where it was. You just kept pressing the "Excuse me" button over and over and over and over and over  and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over and over LOL:D

PRO
USA
#152   — Edited

I pressed it 2 x

The way the rooms looks to go and the bottom left camera on my screen are not in synch it seems

EzAng

#154  

@DJ Sures  I only pressed it 3 times maybe 4 and EzAng is correct the camera is not in synch. :p

#155   — Edited

Hey, I was wondering....where is Jeremie's office?

PRO
USA
#156   — Edited

I saw the way but

my robot froze can't move

#157  

@Mickey666Maus  You have to find it.  I thought Jer's office was the game consoles.  just kidding Jer.

#158  

OMG...I edited my post three times to get Jerimies name right!! I am drunk!!

#160  

@Mickey666Maus   This is in Canada not Germany it is illegal to drive Robots Drunk.

PRO
USA
#161  

Where did everyone go? lol

EzAng

PRO
USA
#162  

come back and try it

PRO
USA
#163  

very good admin

how do you get it to ask  a question? like directions, excuse me

EzAng

PRO
Synthiam
#164  

Add a script in the exosphere control

PRO
USA
#165   — Edited

ok I will try

EzAng

PRO
USA
#166   — Edited

I figures it out

User-inserted image

EzAng

PRO
USA
#167  

find Jeremy's  office today?

Ezang

PRO
Synthiam
#168   — Edited

Added optional two way telepresence option in config menu in latest update

PRO
USA
#169  

I will try it soon as I back from the farm tomorrow.

Thanks,

EzAng

#170  

Ok, I feel like I'm late to the party here.  We can start controlling each other's robots?  Oh my!xD

PRO
Synthiam
#171  

Updated to not prompt for ML reinforcement questions when used in telepresence mode

PRO
Synthiam
#172  

Updated for a few bug fixes

Portugal
#173  

How about the custom control configuration DJ? Any plans?

PRO
Synthiam
#174   — Edited

Yah - with api access there’s a few enterprise customers that have custom UI. Api access isn’t available with pro. It’s documented on the ARC product page:)

User-inserted image

in the meantime for pro users, create scripts and the buttons will show up.

#175  

Version 67 has been updated with bug fixes. Specifically, recovery from network error will launch the Completed script rather than sit idle after presenting the error.

#176  

Updated v68 to remove the Use Custom User Interface option in preparation for a significant ARC update that deprecates this functionality and replaces it with a new feature.