robovr 0.1.0

Quest 3 raw input and streaming helpers for RoboVR

RoboVR

Quest 3 teleoperation prototype for Ubuntu hosts.

Current milestone: bring up the wired development loop.

• host_bridge/: Ubuntu C++ TCP bridge demo.
• proto/: shared packet header and packet type definitions.
• quest_client/: Android/Quest client skeleton.
• examples/quest_streaming.py: shared Python protocol and H.264 streaming helpers.
• tools/: ADB and local launch helpers.
• docs/: design notes and test procedures.

Host smoke test

Install the host compiler toolchain if needed:

sudo apt update
sudo apt install build-essential

cmake -S . -B build
cmake --build build
./build/host_bridge_demo 7777

The first Quest client build sends HELLO and HEARTBEAT packets over adb reverse tcp:7777 tcp:7777.

Quest prerequisites

adb devices
adb reverse tcp:7777 tcp:7777

adb devices must show the Quest as device, not unauthorized or no permissions.

Quest client build

This repo currently contains Gradle project files but not a checked-in Gradle wrapper. Build with Android Studio, or install Gradle/Android SDK and run:

cd quest_client
gradle assembleDebug

The initial APK is a transport bring-up client. It opens a regular Android Activity on Quest and sends HELLO/HEARTBEAT packets to the Ubuntu host. Native OpenXR rendering is the next milestone after this loop is verified.

ToolHang Quest teleop

Use the fixed launcher instead of hand-building the long command:

tools/run_tool_hang_quest.sh

The launcher configures adb reverse tcp:7777 tcp:7777 and starts ToolHang with H.264 stereo video, head tracking, and right-controller arm teleop.

Controls:

• A or X: reset the headset neutral frame. Head camera motion and arm motion share this frame.
• Right squeeze: hold to clutch and move the arm.
• Right trigger: press once to toggle gripper open/closed.
• B or Y: reset the arm clutch neutral while keeping the shared headset frame.

Quest 3 Raw Python API

RoboInfra should consume the raw Quest input API from robovr.quest3. This API only exposes headset/controller state and connection stats; it does not own robot teleop mapping.

from robovr.quest3 import Quest3Server, Quest3VideoStreamer

server = Quest3Server(port=7777, adb_reverse=True)
server.start()
streamer = Quest3VideoStreamer(server)

state = server.wait_for_state(timeout_s=5.0)
while True:
    state = server.latest()
    if state is not None and state.connected:
        head = state.head
        right_grip = state.right_grip
        trigger = state.right_trigger
        squeeze = state.right_squeeze

    # left_rgb and right_rgb are uint8 RGB arrays with shape H x W x 3.
    streamer.send(left_rgb, right_rgb)

Quest3VideoStreamer defaults to the validated Quest 3 stereo path: 800x450 per eye, H.264, 72 FPS target, and RoboVR's internal flip/SurfaceTexture packet handling. If the Quest is not connected, send() returns False instead of raising.

Manual monitor:

python -m robovr.quest3.monitor --port 7777 --adb-reverse

Python Package Publishing

The PyPI package is scoped to the robovr Python package only. Quest APK/native client code and local build artifacts stay in the repository but are excluded from the wheel.

See docs/publishing.md for build, twine check, TestPyPI, and PyPI upload commands.