Overview

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:

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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

2. To use a VR device, describe the agent as follows:

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

3. To use a hybrid configuration, describe the agent as follows:

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