Controllers inputs
Mappings between the VR controllers and the app
Oculus Quest#
| Name | Feature description |
|---|
| (A) | At robot teleoperation start: Validate position and start robot teleoperation |
| During teleoperation: Return to menu |
| (B) | At robot teleoperation start: Cancel and return to menu |
| (X) | At robot teleoperation start: Validate position and start robot teleoperation |
| During teleoperation: Return to menu |
| (Y) | At robot teleoperation start: Cancel and return to menu |
| During teleoperation: Show/Hide state panel (control of robot’s temperature) |
| Joystick left | During teleoperation: Control mobile base direction |
| Joystick right | During teleoperation: Control antennas' emotion |
| Index Trigger left | In menu: Select button |
| During teleoperation: Control left gripper |
| Index Trigger right | In menu: Select button |
| During teleoperation: Control right gripper |
| Middle finger Trigger left | During teleoperation: Use translation mode for mobility |
| Controller left position / orientation | During teleoperation: Reachy’s left arm end effector position / orientation |
| Controller right position / orientation | During teleoperation: Reachy’s right arm end effector position / orientation |
| Headset orientation | During teleoperation: Reachy’s head orientation |
Valve Index#
| Name | Feature description |
|---|
| (A) | At robot teleoperation start: Validate position and start robot teleoperation |
| During teleoperation: Return to menu |
| (B) | At robot teleoperation start: Cancel and return to menu |
| left (B) only | During teleoperation: Show/Hide state panel (control of robot’s temperature) |
| Joystick left | During teleoperation: Control mobile base direction |
| Joystick right | During teleoperation: Control antennas' emotion |
| Index Trigger left | In menu: Select button |
| During teleoperation: Control left gripper |
| Index Trigger right | In menu: Select button |
| During teleoperation: Control right gripper |
| Controller left position / orientation | During teleoperation: Reachy’s left arm end effector position / orientation |
| Controller right position / orientation | During teleoperation: Reachy’s right arm end effector position / orientation |
| Headset orientation | During teleoperation: Reachy’s head orientation |
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