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docs(ecosystem): note Meta Quest lacks full-body robot control support #1067

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docs(ecosystem): note Meta Quest lacks full-body robot control support #1067

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98dc521
docs(ecosystem): note Meta Quest lacks full-body robot control support
jsepulveda-nvidia Sep 1, 2026
ddc07ca
docs(body-tracking): drop the unsupported Quest full-body section
jsepulveda-nvidia Sep 1, 2026
eccee44
docs: revert full-body requirement note on Meta Quest per review
jsepulveda-nvidia Sep 1, 2026
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24 changes: 2 additions & 22 deletions docs/source/device/body_tracking.rst
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Expand Up @@ -27,10 +27,8 @@ and the BD skeleton format used on the server.
.. note::

Meta Quest 3/3S also expose body tracking to WebXR via inside-out body
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tracking (IOBT), and the CloudXR client will stream it. However the Quest
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skeleton is mapped to the PICO BD 24-joint layout in the current version,
and accuracy is lower since there are no physical trackers. See
`Quest Body Tracking (Limited Support)`_ for details.
tracking (IOBT), and the CloudXR client will stream it under the WebXR

@yanziz-nvidia yanziz-nvidia Sep 1, 2026

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this means a dependency to release next version right? Instead of pre-announcing this, I think we can decouple into two parts, one is to remove the things not supported (thus just remove here); and two we can add a new PR when next version is about to merge and release and then add this description.

Body Tracking extension.

.. seealso::

Expand Down Expand Up @@ -252,21 +250,3 @@ timestamped take into ``examples/mcap_record_replay/recordings/``, where
:class: no-image-zoom

``replay_full_body.py`` visualizing a recorded BD 24-joint skeleton in viser.

Quest Body Tracking (Limited Support)
-------------------------------------

Meta Quest headsets expose inside-out body tracking (IOBT) to WebXR sessions.
The CloudXR WebXR client will stream this data when the Quest browser grants the
``body-tracking`` feature.

However, in the current version the Quest IOBT skeleton is mapped to the PICO BD
24-joint layout before being sent to the server. This means the server always
receives data in the ``XR_BD_body_tracking`` joint format regardless of the
source headset.

.. note::

Quest body tracking does not require external trackers. It uses the
headset's built-in cameras. Tracking quality may differ from the
tracker-based PICO solution, particularly for lower-body joints.
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