Commands (legacy version)
Controllers input
| Input | Action | ||
|---|---|---|---|
| Valve Index | HTC Vive | Oculus Touch | |
| Controllers positions | Controllers positions | Controllers positions | Reachy’s end effectors positions |
| Trigger (squeeze) | Trigger (squeeze) | Index Trigger (squeeze) | Open/Close adaptative gripper |
| Trigger (press) | Trigger (press) | Trigger (press) | Interact with UI |
| Grip (squeeze) | / | Hand Trigger (squeeze) | Open/Close adaptative gripper |
| Right thumb stick (press) | Right trackpad (press) | Right thumb stick (press) | Change commands type |
| Right thumb stick (direction) | Right trackpad (direction) | Right thumb stick (direction) | Select corresponding command |
| A button (press) | Menu button (press) | A/X button (press) | Click when required by the interface |
| Both A buttons (press) | Both menu buttons (press) | Both A/X buttons (press) | Emergency stop |
Thumb stick available command types:
- antennas emotion using the emoji panel control (by default)
- cameras zoom/dezoom using zoom panel control (only in 2D and 3D Views)
| Direction | Emoji panel control | Zoom panel control |
|---|---|---|
 |  | |
| Up | Happy | Zoom |
| Right | Thinking | / |
| Down | Sad | Dezoom |
| Left | Angry | / |
Menu options
Mode
See Reachy: The 3D-robot model is either:
- fixed in a immovable position on its support in the basic scene
- not visible if you see Reachy’s view (2D or 3D View)
Be reachy: set 3D-robot model as your own body
Use no headset: deactivate the headset tracking so that Reachy’s head won’t follow your head movements
View
2D View: display Reachy’s left camera on a screen in the headset
3D View (experimental): display Reachy’s stereoscopic view in the headset
Mirror view: display mirrors in front of the 3D-robot model
Scene only: basic scene (by default)
Motors compliance
Compliant: set robot’s motors compliant, which means that they can be manually moved. Warning: you won’t be able to teleoperate Reachy with motors in compliant mode.
Stiff: set robot’s motors stiff, which means that they cannot be manually moved anymore. Motors need to be in stiff mode to teleoperate Reachy.
Haptics on/off (experimental)
Emergency stop
Activate emergency stop by clicking on:
- both A buttons at the same time for Valve Index controllers
- both menu buttons for Vive controllers
- both A/X buttons for Oculus Touch.
The following options are available:
- Open grippers: immediately open the gripper as much as possible to enable the release of any object.
- Reduce torque: reduce the resistance of the arms motors. The arms will slighty fall down.
- Set motors compliant: switch all arms and neck motors into compliant mode.
- Restart application: come back to the very beginning of the application (select IP from interface)