🦫 BeaVR

September 29, 2025 · View on GitHub

VR teleoperation for robotics - Stream your hand movements to control robots in real-time

BeaVR is a VR application for Meta Quest that enables intuitive robot teleoperation. Put on your headset, see through the robot's camera, and control it naturally with your hands.

What It Does

  • Natural Hand Control: Your hand movements directly control the robot
  • Live Camera Feed: See what the robot sees in real-time
  • Visual Feedback: Monitor system status and data streams
  • Network-Based: Connects to your robot over WiFi

Controls

Hand Gestures

GestureAction
👌 Index-Thumb PinchActivate teleoperation mode
🤏 Middle Finger PinchPause streaming
✊ Ring Finger PinchEnable "Return to Menu" button
_ Gestures must be done with the left hand _
  • On Startup: Configure the server IP address using the in-VR keyboard
  • During Operation: The current IP is displayed in the main UI
  • IP Address: Can be changed anytime from the menu using the virtual keyboard

Quick Start

  1. Launch the app on your Meta Quest
  2. Enter IP address of your robot/server using the virtual keyboard
    • Find your server IP by running hostname -I on the server machine
  3. Pinch index-thumb to start teleoperation
  4. See the border turn green when connected successfully
  5. Control the robot with natural hand movements!

How It Works

┌─────────────┐                  ┌──────────────┐
│  Meta Quest │  Hand Tracking   │    Server    │
│   (BeaVR)   │ ────────────────>│   (Robot)    │
│             │                  │              │
│             │  Camera Stream   │              │
│             │ <────────────────│              │
└─────────────┘                  └──────────────┘
  1. Hand Tracking: Your hand movements are captured at high precision
  2. Network Streaming: Hand data is sent to the server over WiFi
  3. Visual Feedback: Robot's camera feed and status info stream back to your headset
  4. Low Latency: Optimized for responsive control

The app maintains the same core networking and functionality while now using an improved IP management system.

Requirements

  • Meta Quest (Quest 2, Quest Pro, Quest 3)
  • WiFi connection (same network as server)
  • Robot/Server running compatible receiver

Development

For Unity development and technical details, see BeaVR-Unity/README.md

Built with: Unity 6.2, OpenXR, XR Hands

License

This project is licensed under the MIT License.