Teleoperate Reachy
How to use the VR teleoperation application
In brief
Start teleoperating Reachy
Make sure the robot is turned on, connected to the network and that all the robot’s services are running before launching the teleoperation application.
Select the robot you want to teleoperate (or create a new one), and click on “Connect”.
When the robot is ready, click on “Click here to start”, then look straight ahead, with your body in the same orientation as your head while pressing A to start the teleoperation. The initial head position is used to determine the coordinate system giving your VR controllers position.
- Come back any time to menu by pressing A. Teleoperation of the robot is automatically paused if the menu is open. You can move to another place in menu.
Stop teleoperation
Come back to the menu to pause the teleoperation by pressing A at any time during teleoperation.
Leave the app by clicking “Quit” in the menu and continue with “Yes, leave.”.
The motors are automatically turned into compliant mode when not teleoperated. Please make sure the arms are close enough to the lowest position they can reach when coming back to the menu to avoid them falling or hitting something.
Step-by-step starting
Prepare your VR equipment to be VR ready: turn on all VR device, make sure they are correctly detected by SteamVR.
For Oculus Quest users: You need to launch the Oculus application before starting the teleoperation application.Make sure the robot is turned on, connected to the network and that all the robot services are running. By default, if you haven’t modified anything, all services should be automatically launched on start of the full/starter kit robots.
Launch the application .exe file
Equip yourself with your headset, make sure you can see both controllers and that the scene is moving correctly in accordance with your head movements.
Choose the robot you want to connect to: you can select a robot with its IP address, or add a new one to the list of available robots.
- Press Connect to initiate the communication with the robot.
Make sure the connection status in the top right of the menu is indicating “You are connected to a remote Reachy”.
When Reachy is ready, click on “Click here to start”.
- Choose the place you want to teleoperate Reachy from, position your hand in the posture you want to begin with. C Look straight ahead, with your body in the same orientation as your head while pressing A. The initial head position is used to determine the coordinate system giving your VR controllers position.
- Come back any time to menu by pressing A. Teleoperation of the robot is automatically paused if the menu is open. You can move to another place until you validate a position.
Application features
Click on the robot to select to open the panel of all saved robots:
Then click on “Add new robot +” at the bottom right of the page:
Enter a robot name and the IP address of the robot (if the headset is connected on a computer, use the computer keyboard), and save your robot card:
The IP address is mandatory. If no name is given to the new robot, it will be called @Reachy by default
Click on the robot to select to open the panel of all saved robots:
Then click on the pencil icon of the robot you want to modify:
Modify the info on the robot card and save the card:
Click on the robot to select to open the panel of all saved robots:
Then click on the bin icon of the robot you want to delete:
Validate the deletion:
Click on “Ports information” in the connection menu, below the Connect button.
Find there the info of all the gRPC ports used. You can also modify then if you made changed on your robot:
> Disable the automatic best practice display
Disable the “Always show on start” toggle at the bottom of the best practice page:
> Refer back to the best practice
Click on the guide at the top right of the menu:
Go to the help menu:
Switch mobility to off on the button located at the bottom left
