Customize your teleop session

Customize motion sickness effects and other user prefs

Audio and microphone setup #

To have a better experience within the VR, configure the audio of your headset from your headset settings.

You should be able to speak through the robot and hear from it when you are in the transition room.
Check both audio input and output are on, and set them to a correct value.

On the Meta Quest 2 headset, we use the following parameters:

• audio input: 100%
• audio ouput: 65%

Motion sickness options #

Once in the transition room, you have options you can configure to help you avoid motion sickness.

On the left of the mirror, open the Settings tab, and configure the motion sickness options before starting teleoperating the robot.

Reticle #

Display a reticle to give a fixed point in the field of view. By default, the reticle only appears when the mobile base is moving.

Option:

• Always display reticle: always display the reticle, even if the mobile base is not moving.

Navigation effects #

• No effect
• Tunneling: when moving the mobile base, a black tunneling will appear in your peripheral vision and reduce your field of view
• Reduced screen: when moving the mobile base, the size of the image will be reduced to let you see an artificial horizon behind it.

Option:

• Activate effect on demande only: during teleoperation, press one of the joysticks to activate/deactivate the occurence of the selected effect.

  If used with tunneling, deactivate the effect will disable the tunneling when moving the mobile base, activate it will let it appear automatically.

  If used with reduced screen, activate or deactivate the effect will let you manually reduce the size of the image.