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Controls

Button Labels

Teleoperation controls

The control bindings of the teleoperation are as follows:

  • Both left and right controllers output velocity data at 50Hz that can be used to control up to two robotic arms.
  • Both left and right controllers output the trigger value as a float between [0,1] (e.g. for gripper usage)
  • Pressing the primary + secondary button will calibrate the controller so that the current pose is considered aligned with the robot base frame.
  • In order to engage control, activate the grip button.
  • In order to allow for movement, furthermore press the primary button

Warning

Make sure to calibrate the controller to the robot base frame before engaging control!

Other controls

Non-robot controls:

  • Y + right trigger will start/save a demonstration
  • B + right trigger will discard a demonstration