GRID Docs | General Robotics

GRID provides support for multiple input devices and output commands, enabling teleoperation for a variety of robot form factors, as listed below:

GRID also supports the hybrid configurations of output formats and command specifications to control complex robot form factors, as listed below:

Input Device	Output Format	Command Specification
Keyboard	SE(2) + SE(3)	Linear x-y velocity, yaw rate, Change in 6D pose (x, y, z, r, p, y)
Keyboard	SE(3) + SE(3)	Two vectors each with change in 6D pose (x, y, z, r, p, y)

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

agent_cfg:
    - teleop:
        type: "VR"
        device: "AVP"
        ip: 192.168.254.206

agent_cfg:
    - teleop:
        type: "SE3_SE3"
        device: "DualKeyboard"
        sensitivity: 1.0

Overview