OpenArm VR Teleoperation

VR-based teleoperation for the OpenArm robot using Meta Quest 3 and dora-rs dataflows.

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VR Setup (Meta Quest 3)

One-time setup

1. Create a Meta Quest Developer account and install Meta Quest Developer Hub.
2. Download the teleoperation APK from the link.
3. Sideload the APK onto your Quest 3 via Developer Hub.

Per-session setup

1. Put on the headset and launch the teleoperation app.
2. Press the left controller menu button — a settings panel will appear.
3. Enter the IP address of your PC host and the port (default: 5006).
4. Verify communication from the PC host:

   nc -lu 5006

5. Tape the center-of-eye sensor on the headset to keep it constantly activated (prevents the display from sleeping when worn at the neck).
6. Take off the headset and hang it around your neck — you will operate with the controllers while the headset rests there.

Safety Notes

• When launching the real robot dataflow, gently pull the trigger slowly at first to align the robot before making any larger movements.
• Always verify motion in simulation before running on hardware. -->

Quick Start

Test running teleoperation in MuJoCo.

uv run dora build config/dataflow-mujoco.yaml --uv
uv run dora run config/dataflow-mujoco.yaml --uv

Related links

• 💬 Join the community on Discord
• 📬 Contact us through openarm@enactic.ai

License

Licensed under the Apache License 2.0. See LICENSE.txt for details.

Copyright 2026 Enactic, Inc.

Code of Conduct

All participation in the OpenArm project is governed by our Code of Conduct.