Controllers inputs
Mappings between the VR controllers and the app
Oculus Quest#
![Oculus Quest controller mapping](https://pollen-robotics.github.io/reachy-2021-docs/vr/use-teleop/commands/oculus-mapping_hu3dff3b82701575334d1835f7be3db565_180185_20x0_resize_box_2.png)
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#
![Valve Index controller mapping](https://pollen-robotics.github.io/reachy-2021-docs/vr/use-teleop/commands/valve-mapping_hud00aaeb45a4d97501cf335344375d37f_221144_20x0_resize_box_2.png)
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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