pollen-robotics / reachyteleoperation Goto Github PK

set version to 1.0
update to latest unity lts 2020
finalize the documentation: https://github.com/pollen-robotics/reachy-2023-docs/tree/5-update-vr-documentation
create release archives

Selecting an emotion or the grasping lock option requires to keep selecting the icon with the right thumbstick we want until we release the left (X) button (which has to be made first). Problem is that when we release the (X) button, a rotation commands is sent from the right thumbstick, which leads in unexpected rotations each time we use an emotion.

Selection must not require the right thumstick to be kept in position.

Orientations of the controllers are different depending on the VR headset. Using the same values for TrackedLeftHand and TrackedRightHand may lead to improper wrist orientation.

It may happen that a motor is not working anymore due to overheating but never sent the threshold value of 55°.
Last warning of motors getting hot is too old to help the user understand it is the reason why the robot's movements are now different.

With a new stereo calibration procedure (https://github.com/pollen-robotics/Reachy_stereo/pull/4), we need to update the undistort shader to actually do the equivalent of a cv2.remap()

TODO :

• rewrite undistort.shader
• rewrite EyeScript.cs
• send l_mapx, l_mapy, r_mapx, r_mapy with grpc

In the mirror scene, we sometimes have on start the orientation of the hands not correctly set.
This problem disappear when restarting the app.
(Observed using Meta Quest 2)

Appears when teleoperation is exited because the headset is removed. Then using the emotion menu in the mirror or again in the teleoperation.

Example : "X" button exists only on Oculus, when leaving teleoperation the app suggests to hold X to lock robot position.
There may be other elements like this to modify.

Experimental 3D view is not working correctly as the cameras are not calibrating and there are still some hacks to do manually to be able to use it.
The best is to remove it for the moment.

In the online menu, we expect to be able to select the grasping lock option by putting down the right thumbstick, but in reality we have to put it slighty on the left.

The forward indicator bar is present during the countdown before teleoperation, and then it disappears although the mobile base is present. This happens only with the native Android app.

We want to facilitate the transition between two users, without having to leave the mirror scene.

Indicator shows an incorrect rotation: for example having the right thumstick pointing forward slighty to the right, it indicates a rotation on the left.

This is a visual bug. The head of the hidden robot during the teleoperation is not properly oriented when we display it.
Similar to an issue we have with the simulation app: pollen-robotics/reachy2021-unity-package#18

Main window is a bit low and collide with the floor if the user looks down.

Give better images to show the mapping between the controllers' inputs and the actions in the VR app.