Teleop with quest v2#519

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suchkristenwow wants to merge 27 commits into

mainfrom

teleop-with-quest-v2

Commits on Feb 12, 2026

GetEmpty now exits as soon as the first empty message is received
suchkristenwow
committed
correctly computes the transform between the controller frame and the end effector frame
suchkristenwow
committed
added get bool behavior
suchkristenwow
committed
new objectives
suchkristenwow
committed
I think the transformation part is working, now moving on to using track moving frame
suchkristenwow
committed
switched to lab sim, added visualization of the transformed controller frame
suchkristenwow
committed
new trasnform quest frame subtree
suchkristenwow
committed
finally got the transforms sorted out :)
suchkristenwow
committed
yay realignmet works, transform works and the continuous publishing works!
suchkristenwow
committed
tripped the rotation from the EE transform + added track moving frame but tracking not working
suchkristenwow
committed
I think it's working but the arm droops if u let go of the clutch / the rotation of the EE is not being handled
suchkristenwow
committed
committing before trying to apply relative transformation
suchkristenwow
committed
seems to only track safe poses. Inconsistent FP tracking behavior. Need to mess more with rotation, and gripping not addressed yet.
suchkristenwow
committed
committing before refactoring
suchkristenwow
committed
at least the tracking / realignment works
suchkristenwow
committed
this one tracks for like the first 2 secs then gives up
suchkristenwow
committed
added rising edge detection and new teleop with meta
suchkristenwow
committed
Add objective that publishes what seems to be the correct gripper target pose from the controller odom info

nbbrooks
authored and
suchkristenwow
committed
Add start of pubilsh odom objective

nbbrooks
authored and
suchkristenwow
committed
v5 is successfully moving the arm in 8.10.1 (with some changes to work with v8 and not v9). Need to also run in shell:

nbbrooks
authored and
suchkristenwow
committed
some trouble with tracking, but implemented the clutch in behavior... about to try and enforce safety
suchkristenwow
committed
made new objectives
suchkristenwow
committed
adding in v7 and v8
suchkristenwow
committed

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Teleop with quest v2#519

Teleop with quest v2#519
suchkristenwow wants to merge 27 commits into
mainfrom
teleop-with-quest-v2

Commits on Feb 12, 2026

GetEmpty now exits as soon as the first empty message is received

correctly computes the transform between the controller frame and the end effector frame

added get bool behavior

new objectives

I think the transformation part is working, now moving on to using track moving frame

switched to lab sim, added visualization of the transformed controller frame

new trasnform quest frame subtree

finally got the transforms sorted out :)

yay realignmet works, transform works and the continuous publishing works!

tripped the rotation from the EE transform + added track moving frame but tracking not working

I think it's working but the arm droops if u let go of the clutch / the rotation of the EE is not being handled

committing before trying to apply relative transformation

seems to only track safe poses. Inconsistent FP tracking behavior. Need to mess more with rotation, and gripping not addressed yet.

committing before refactoring

at least the tracking / realignment works

this one tracks for like the first 2 secs then gives up

added rising edge detection and new teleop with meta

Add objective that publishes what seems to be the correct gripper target pose from the controller odom info

Add start of pubilsh odom objective

v5 is successfully moving the arm in 8.10.1 (with some changes to work with v8 and not v9). Need to also run in shell:

some trouble with tracking, but implemented the clutch in behavior... about to try and enforce safety

made new objectives

adding in v7 and v8

Commits on Feb 13, 2026

Add new version of teleop which should handle demonstration indicator events, gripper toggling, and clutch based teleoperation.

made version 9 and made a subtree for initial controller position

Commits on Feb 25, 2026

I think the transformation bit is working? But going to try ignoring the initial rotation of the end effector

omg this is working on the generated bags