Commands
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Oculus Quest
![Oculus Quest controller mapping](https://docs.pollen-robotics.com/images/vr/use-teleop/oculus-quest-mapping_hu819e1a3edc94584011947c7c7a28ec05_184071_600x0_resize_box_3.png)
Name | Feature description |
---|---|
A | At robot teleoperation start: Start robot teleoperation |
During teleoperation: Return to menu | |
B | During teleoperation: Mobile base boost |
X | During teleoperation: Open emotion menu (keep pressed) / Activate selected emotion (release) |
When leaving teleoperation (A pressed): Lock robot position | |
Left Thumbstick | During teleoperation: Control mobile base translation |
Right Thumbstick | During teleoperation: Control mobile base rotation |
If emotion menu is open: Select emotion | |
Left Index Trigger | In menu: Select button |
During teleoperation: Control left gripper | |
Right Index Trigger | In menu: Select button |
During teleoperation: Control right gripper | |
Left Controller position / orientation | During teleoperation: Reachy’s left arm end effector position / orientation |
Right Controller 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://docs.pollen-robotics.com/images/vr/use-teleop/valve-index-mapping_huf743c57a00821ee9b7b0a0b6dc0c54ac_229628_600x0_resize_box_3.png)
Name | Feature description |
---|---|
A right | At robot teleoperation start: Start robot teleoperation |
During teleoperation: Return to menu | |
A left | During teleoperation: Open emotion menu (keep pressed) / Activate selected emotion (release) |
When leaving teleoperation (right A pressed): Lock robot position | |
B right | During teleoperation: Mobile base boost |
Left Thumbstick | During teleoperation: Control mobile base translation |
Right Thumbstick | During teleoperation: Control mobile base rotation |
If emotion menu is open: Select emotion | |
Left Index Trigger | In menu: Select button |
During teleoperation: Control left gripper | |
Right Index Trigger | In menu: Select button |
During teleoperation: Control right gripper | |
Left Controller position / orientation | During teleoperation: Reachy’s left arm end effector position / orientation |
Right Controller position / orientation | During teleoperation: Reachy’s right arm end effector position / orientation |
Headset orientation | During teleoperation: Reachy’s head orientation |
HTC Vive
![Valve Index controller mapping](https://docs.pollen-robotics.com/images/vr/use-teleop/htc-vive-mapping_hu7290f1f3b11491c71642261453bb2b24_220204_600x0_resize_box_3.png)
Name | Feature description |
---|---|
Sandwich menu right | At robot teleoperation start: Start robot teleoperation |
During teleoperation: Return to menu | |
Sandwich menu left | During teleoperation: Open emotion menu (keep pressed) / Activate selected emotion (release) |
When leaving teleoperation (right menu pressed): Lock robot position | |
Left Trackpad | During teleoperation: Control mobile base translation |
Right Trackpad | During teleoperation: Control mobile base rotation |
Center click: Mobile base boost | |
If emotion menu is open: Select emotion | |
Left Index Trigger | In menu: Select button |
During teleoperation: Control left gripper | |
Right Index Trigger | In menu: Select button |
During teleoperation: Control right gripper | |
Left Controller position / orientation | During teleoperation: Reachy’s left arm end effector position / orientation |
Right Controller right position / orientation | During teleoperation: Reachy’s right arm end effector position / orientation |
Headset orientation | During teleoperation: Reachy’s head orientation |