VR teleoperation for robotics - Stream your hand movements to control robots in real-time
BeaVR is a VR application for Meta Quest that enables intuitive robot teleoperation. Put on your headset, see through the robot's camera, and control it naturally with your hands.
- Natural Hand Control: Your hand movements directly control the robot
- Live Camera Feed: See what the robot sees in real-time
- Visual Feedback: Monitor system status and data streams
- Network-Based: Connects to your robot over WiFi
| Gesture | Action |
|---|---|
| 👌 Index-Thumb Pinch | Activate teleoperation mode |
| 🤏 Middle Finger Pinch | Pause streaming |
| ✊ Ring Finger Pinch | Enable "Return to Menu" button |
| _ Gestures must be done with the left hand _ |
- On Startup: Configure the server IP address using the in-VR keyboard
- During Operation: The current IP is displayed in the main UI
- IP Address: Can be changed anytime from the menu using the virtual keyboard
- Launch the app on your Meta Quest
- Enter IP address of your robot/server using the virtual keyboard
- Find your server IP by running
hostname -Ion the server machine
- Find your server IP by running
- Pinch index-thumb to start teleoperation
- See the border turn green when connected successfully
- Control the robot with natural hand movements!
┌─────────────┐ ┌──────────────┐
│ Meta Quest │ Hand Tracking │ Server │
│ (BeaVR) │ ────────────────>│ (Robot) │
│ │ │ │
│ │ Camera Stream │ │
│ │ <────────────────│ │
└─────────────┘ └──────────────┘
- Hand Tracking: Your hand movements are captured at high precision
- Network Streaming: Hand data is sent to the server over WiFi
- Visual Feedback: Robot's camera feed and status info stream back to your headset
- Low Latency: Optimized for responsive control
The app maintains the same core networking and functionality while now using an improved IP management system.
- Meta Quest (Quest 2, Quest Pro, Quest 3)
- WiFi connection (same network as server)
- Robot/Server running compatible receiver
For Unity development and technical details, see BeaVR-Unity/README.md
Built with: Unity 6.2, OpenXR, XR Hands
This project is licensed under the MIT License.