Update teleop getting started section

pollen-robotics · Apr 18, 2024 · 2f6c2ae · 2f6c2ae
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diff --git a/assets/images/vr/getting-started/mirror-scene.png b/assets/images/vr/getting-started/mirror-scene.png
diff --git a/assets/images/vr/getting-started/reduced-screen.png b/assets/images/vr/getting-started/reduced-screen.png
diff --git a/assets/images/vr/getting-started/reticle.png b/assets/images/vr/getting-started/reticle.png
diff --git a/assets/images/vr/getting-started/tunneling.png b/assets/images/vr/getting-started/tunneling.png
diff --git a/assets/images/vr/getting-started/vr-settings.png b/assets/images/vr/getting-started/vr-settings.png
diff --git a/config/_default/menus/menus.en.toml b/config/_default/menus/menus.en.toml
@@ -372,7 +372,7 @@
 ##################
 
 [[vr]]
-  name = "VR Installation"
+  name = "Getting started"
   weight = 30
   identifier = "vr-getting-started"
 

diff --git a/content/sdk/introduction/introduction.md b/content/sdk/introduction/introduction.md
@@ -12,7 +12,7 @@ weight: "10"
 
 ## The SDK in a nutshell
 
-The [Python SDK](https://github.com/pollen-robotics/reachy-sdk) lets you easily control and program a Reachy robot. It is used to read information (eg. camera image or joint position) and send commands to make the robot move.
+The [Python SDK](https://github.com/pollen-robotics/reachy2-sdk) lets you easily control and program a Reachy robot. It is used to read information (eg. camera image or joint position) and send commands to make the robot move.
 
 It is designed to:
 

diff --git a/content/vr/compatibility/headsets.md b/content/vr/compatibility/headsets.md
@@ -14,7 +14,7 @@ So far, the VR teleoperation application has been tested with the following devi
 * **Meta Quest 2** (with Oculus Link)
 * **Meta Quest 3** (with Oculus Link)
 
-No native application for Meta Quest headsets has been released at the moment.
+> No native application for Meta Quest headsets has been released at the moment.
 
 
 The application should also support any device compatible with Unity 2022.3 including but not limited to the following devices:  

diff --git a/content/vr/getting-started/connect.md b/content/vr/getting-started/connect.md
@@ -16,7 +16,7 @@ weight: "60"
 Once everything is installed, you can launch the application.  
 First connect your headset to your computer and make sure it is ready for use.
 
-> Meta Quest headset must be used with the link.
+> Meta Quest headsets must be used with the link.
 
 Then run the *Reachy2Teleoperation.exe* file from the previously unzipped folder to start the application.
 
@@ -45,4 +45,6 @@ Make sure the connection is fine by checking the information displayed at the to
 You must see:
 - a green text telling you "Connected to Reachy"
 - the view of the robot displayed in miniature
-- a good network connection
+- a good network connection indication
+
+{{< img-center "images/vr/getting-started/mirror-scene.png" 600x "" >}}
diff --git a/content/vr/getting-started/setup.md b/content/vr/getting-started/setup.md
@@ -27,4 +27,34 @@ Check both audio input and output are on, and set them to a correct value.
 
 Once in the *transition room*, you have options you can configure to help you avoid motion sickness.  
 
-On the left of the mirror, open the **Settings** tab, and configure the motion sickness options before starting teleoperating the robot.
+On the left of the mirror, open the **Settings** tab, and configure the motion sickness options before starting teleoperating the robot.
+
+{{< img-center "images/vr/getting-started/vr-settings.png" 600x "" >}}
+
+
+### Reticle
+Display a reticle to give a fixed point in the field of view. By default, the reticle only appears when the mobile base is moving.  
+
+*Option:*
+- **Always display reticle**: always display the reticle, even if the mobile base is not moving.
+
+{{< img-center "images/vr/getting-started/reticle.png" 300x "" >}}
+
+
+### Navigation effects
+
+- **No effect**
+- **Tunneling**: when moving the mobile base, a black tunneling will appear in your peripheral vision and reduce your field of view
+- **Reduced screen**: when moving the mobile base, the size of the image will be reduced to let you see an artificial horizon behind it.
+
+*Option:*
+- **Activate effect on demande only**: during teleoperation, press one of the joysticks to activate/deactivate the occurence of the selected effect.  
+
+    If used with *tunneling*, deactivate the effect will disable the tunneling when moving the mobile base, activate it will let it appear automatically.  
+
+    If used with *reduced screen*, activate or deactivate the effect will let you manually reduce the size of the image.
+
+|Tunneling effect|Reduced screen effect |
+|----|--------------------|
+|{{< img-center "images/vr/getting-started/tunneling.png" 300x "" >}}|{{< img-center "images/vr/getting-started/reduced-screen.png" 300x "" >}}
+|
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