Teleoperation Reference

This section documents the teleoperation systems.

Overview

The stack supports multiple teleoperation methods:

Method	Input Device	Use Case
VR	VR headset (Pico Enterprise / consumer, Meta Quest)	Remote manipulation
Isomorphic	Master–slave (HighTorque Panthera HT)	Joint-space following
DexCap	Gloves	Dexterous teleop
Vive	Trackers	Arm tracking
Wuji	Gloves	Hand tracking

VR Headset Recommendation

For VR teleoperation, Pico and Meta Quest are the primary tested headsets. Both can use WebXR (./run.sh vr) and XRoboToolkit (./run.sh vr-xrt). Pico Enterprise is the preferred Pico SKU: it supports USB shared networking (USB 网络共享) and uses a different headset App from Pico consumer.

In This Section

• vr_pose_publisher
• Isomorphic teleop (drag_teleop_controller)
• DexCap System
• teleop-joint-mapper
• wuji_glove_teleop
• vive_tracker_teleop
• wuji-ros2-control

Topic Contracts

All teleop systems publish to standard topics:

Topic	Type	Description
/teleop/left_ee_pose	PoseStamped	Left arm target
/teleop/right_ee_pose	PoseStamped	Right arm target
/teleop/head_pose	PoseStamped	Head tracking