VR teleoperation - Dimensional

Teleoperation via Meta Quest 3 VR controllers. Dual-hand tracking with WebXR.

Architecture

Quest Browser  ──WebSocket──→  Embedded HTTPS Server  ──→  QuestTeleopModule
(WebXR poses + Joy)             (port 8443)                  (delta → PoseStamped)

Running

dimos run teleop-quest-rerun    # Quest teleop + Rerun viz
dimos run teleop-quest-xarm7   # XArm7
dimos run teleop-quest-piper   # Piper
dimos run teleop-quest-dual    # Dual arm

Open https://<host-ip>:8443/teleop on Quest browser. Accept cert, tap Connect.

Subclassing

Method	Purpose
`_handle_engage()`	Customize engage/disengage logic
`_should_publish()`	Add conditions for publishing
`_get_output_pose()`	Customize pose computation
`_publish_msg()`	Change output format

self._lock is already held - don’t acquire it in overrides.

Joy Message Format

Axes: thumbstick X, thumbstick Y, trigger (analog), grip (analog) Buttons: trigger, grip, touchpad, thumbstick, X/A, Y/B, menu

File Structure

quest/
├── quest_teleop_module.py   # Base module
├── quest_extensions.py      # ArmTeleop, TwistTeleop
├── quest_types.py           # QuestControllerState, Buttons
├── blueprints.py
└── web/static/index.html    # WebXR client