XR-Robot-Teleop-Client is a robot teleoperation client for VR/AR headsets built in Unity. It uses Meta Movement SDK to obtain upper body poses (via inside-out body tracking) and sends them to a user-specified IP address via WebRTC.

⚠️ Currently, XR-Robot-Teleop-Client only supports Meta Quest headsets.

XR-Robot-Teleop-Server is a companion project written in Python that receives body pose data. You can define custom callback functions (which are invoked every time the data is received) to visualize or integrate into a robotic simulator.

pip install xr-robot-teleop-server

Demo

Teleop @ MuJoCo/robosuite

TODO: a Bibtex citation block (with click-to-copy for different citation formats) to Kong's paper

Learn more about the instantaneous pose calculation algorithm used here.

Viz w/ rerun

NOTE: Set it to 1000 fps for real-time speed!

TODO: Fix the default FPS and get rid of log/warning sidebar