> ## Documentation Index
> Fetch the complete documentation index at: https://dimensionalos.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# VR teleoperation

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

```bash theme={null}
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
```