User Guide of TactAR

July 11, 2025 ยท View on GitHub

Video Tutorial

Please refer to the video tutorial for a step-by-step guide on how to use TactAR.

Steps

1. Connect to the Wireless Network

Open the Quest's Wi-Fi settings and connect to the same network as the workstation which runs the teleoperataion server.

2. Launch Software

Find and launch the TactAR APP from the application list.

3. Create and Confirm Ground Boundary

Look at the ground to set the boundary beneath feet and confirm the ground boundary.

4. (Optional) Set IP Address

Enter the correct IP address (the first line in the UI) of the workstation (the host IP in the UI) and click Refesh IP. You can click the virtual keyboard button with your finger. You can also change the default IP address and build the APP from source, so that you don't need to enter the IP manually.

5. Coordinate Calibration

  1. Press the X button on the left controller and the A button on the right controller simultaneously and a coordinate axis will appear on the screen.
  2. Hold the trigger on the right controller, pull back the controller or rotate the wrist to calibrate the rotation of the coordniate system.
  3. Hold the trigger on the left controller and move the VR controller to adjust the origin position of the coordinate system.
  4. Ensure the side of the blue axis (z-axis in Unity) with the sphere is facing backward (correspoinding to x-axis in the world coordinate system).
  5. Once calibration is complete, press the X button on the left controller and the A button on the right controller simultaneously to exit the calibration process.

6. Control the Robotic Arm

Make sure that both VR controllers are held in your hands and can be tracked by Quest3.

  • Left Arm Control:

    • Hold the side trigger on the left controller.
      • Move hand to control the position of the robot end-effector
      • Rotate wrist to control the rotation of the robot end-effector
    • Hold the trigger on the left controller to open and close the left arm's gripper.

  • Right Arm Control:

    • Hold the side trigger on the right controller.
      • Move hand to control the position of the end effector
      • Rotate wrist to control the rotation of the end effector
    • Hold the trigger on the right controller to open and close the right arm's gripper.

7. (Optional) Change Control of Left and Right Arms

Find and select the SwitchL-R option in the IP settings interface to change the control assignment for the left and right arms.

8. (Optional) Enable Camera Streaming

You can set enable_streaming=True in your camera publisher config (use the demo config for reference) to enable camera streaming for certain cameras. You can also set streaming_quality to change the image quality and streaming_display_params_list to change the display position and rotation.

9. Exit the Software

Hold the Meta button on the right controller to exit the software.