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The aim of this chapter is to provide a focused guideline on how to test virtual reality (VR) systems used in robot teleoperation. The guideline is demonstrated based on a real experiment. The goal of this experiment is to test the characteristics and the advantages of a telerobotic system based on video transmission and stereoscopic viewing. The experimentation design follows a systematic approach that relies on identification of a number of key parameters and a usability evaluation designed according them. Two different 3D visualization facilities are considered for evaluating performance on systems with different characteristics, cost and application context. The results of the experiments are expected to provide insight into stereoscopic robot teleguide, and to understand on what system, and to what extent, is stereo vision beneficial.