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naveenkul
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Looks amazing! we can keep special ControllerData model for full quest info, but for easy integration to robots would be helpful to emit PoseStamped also I see you have position: tuple[float, float, float] = Field(description="Position (x, y, z) in meters")
rotation: tuple[float, float, float, float]you can do from dimos.msgs.geometry_msgs import PoseStamped
pose = PoseStamped(
ts=time.time(),
position=(1.0, 2.0, 3.0),
orientation=(0.1, 0.2, 0.3, 0.9),
)so you can add 2 more outputs, left_pose and right_pose or something after this we can try hooking up directly to unitree or an arm |
dimos/vr/modules/metaquest.py
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| def _close_module(self): |
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I added ModuleBase._close_module to cleanup things before we had start/stop. It's now called in ModuleBase.stop so you don't need to call _close_module anymore.
I think you should move this code to def stop() above and also add super().stop() at the end (to clean up all the module stuff, including _close_module).
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PoseStamped added and moved camera cleanup to under stop()
dimos/vr/run_vr_server.py
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| from fastapi.staticfiles import StaticFiles | ||
| from pydantic import ValidationError | ||
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| sys.path.insert(0, str(Path(__file__).parent.parent.parent)) |
dimos/vr/modules/metaquest.py
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| self._running = False | ||
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| self._server_thread = threading.Thread(target=run_server, daemon=True) | ||
| self._server_thread.start() | ||
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| protocol = "https" if ssl_config else "http" | ||
| logger.info(f"VR server started at {protocol}://{self.host}:{self.port}") | ||
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| except Exception as e: | ||
| self._running = False | ||
| logger.error(f"Failed to start VR server: {e}", exc_info=True) | ||
| raise | ||
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| @rpc | ||
| def stop(self): | ||
| """Stop the VR teleoperation server.""" | ||
| if not self._running: | ||
| logger.info("VR server not running") | ||
| return |
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If there's an exception in the thread self._running gets set to false. That means that module.stop() cannot run fully because of the if not self._running condition.
I think you need to replace self._running = False with self.stop() in these two try-excepts
dimos/vr/modules/metaquest.py
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| @rpc | ||
| def generate_certificate(self, cert_dir: str = "dimos/vr/certificates"): |
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I think dimos is for source code. You should probably place certificates in assets/vr/certificates. You can get it with:
from dimos.constants import DIMOS_PROJECT_ROOT
_CERTIFICATES_DIR = DIMOS_PROJECT_ROOT / "assets" / "vr" / "certificates"
_CERTIFICATES_DIR.mkdir(parents=True, exist_ok=True)
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@oliver-sommer Rebase on dev to fix all of the issues and conflicts |
spomichter
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Too many files changed for review. |
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Too many files changed for review. |
spomichter
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Too many files changed for review. |
spomichter
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Closed because it's old and it's before the rebase. |
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Add VR Teleoperation Module for Quest 3/3S Controllers
Adds native Quest 3/3S controller support for robot teleoperation via WebXR.
What's New:
Usage:
How it works: Quest browser connects to HTTPS server, streams controller data via WebSocket to dimos streams.
Files:
dimos/vr/module, test server, SSL cert generator, WebXR interface