GRID provides support for multiple input devices and output commands, enabling teleoperation for a variety of robot form factors, as listed below:
Input DeviceOutput FormatCommand Specification
KeyboardSE(2)Linear x-y velocity, yaw rate
KeyboardSE(3)Change in 6D Pose (x, y, z, r, p, y)
VR Device: Apple Vision ProSE(3), 27 * SE(3), 27 * SE(3)Head, Hand Poses
GRID also supports the hybrid configurations of output formats and command specifications to control complex robot form factors, as listed below:
Input DeviceOutput FormatCommand Specification
KeyboardSE(2) + SE(3)Linear x-y velocity, yaw rate, Change in 6D pose (x, y, z, r, p, y)
KeyboardSE(3) + SE(3)Two vectors each with change in 6D pose (x, y, z, r, p, y)

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Sample Configuration:

  1. To use a keyboard device with SE(3) output format commanding change in 6D Pose (x, y, z, r, p, y), describe the agent in agent_cfg.yaml config as follows:
agent_cfg:
    - teleop:
        type: "SE3"
        device: "Keyboard"
        sensitivity: 1.0
  1. To use a VR device, describe the agent as follows:
agent_cfg:
    - teleop:
        type: "VR"
        device: "AVP"
        ip: 192.168.254.206
  1. To use a hybrid configuration, describe the agent as follows:
agent_cfg:
    - teleop:
        type: "SE3_SE3"
        device: "DualKeyboard"
        sensitivity: 1.0