Add start screen UI, hand/body tracking, upgrade to Godot 4.6.1

- Two-phase startup: CONFIG phase (VR start screen) -> AR phase (passthrough)
- Start screen with server host/port input, connect button, and launch AR button
- VR UI pointer with controller ray-pointing and hand poke interaction
- Body tracking visualization with colored spheres (spine, head, arms)
- Hand tracking with camera-based tracking (no controllers required)
- Android flavor manifest for Quest hand/body tracking permissions
- Upgrade OpenXR Vendors plugin from v3.1.2 to v4.3.0-stable
- Export presets updated for Godot 4.6.1 Meta plugin format
- Build scripts for Godot 4.6.1 with vendor plugin setup

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

.gitignore

@@ -1,10 +1,31 @@
 # Godot
 .godot/
 *.import
-android/build/
-build/
 *.apk
 
+# Android build (regenerated each export) - keep flavor manifest
+android/build/*
+!android/build/src/
+android/build/src/*
+!android/build/src/standard/
+
+# Build output and temp files
+build/*.apk
+build/*.zip
+build/*.txt
+build/android_backup/
+
+# Local tools (not committed)
+Godot4_3/
+Godot4_6_1/
+android-sdk/
+platform-tools/
+export_templates/
+jdk17/
+zulu17*/
+debug.keystore
+.claude/
+
 # OS
 .DS_Store
 Thumbs.db

Main.gd

@@ -1,18 +1,32 @@
 extends Node3D
 ## Main entry point for G1 Teleop Quest 3 app.
-## Initializes XR session with passthrough, wires body tracker to WebSocket client.
+## Two-phase startup:
+##   CONFIG phase: Dark VR environment with start screen UI panel
+##   AR phase: Passthrough mixed reality with body tracking
+
+enum Phase { CONFIG, AR }
 
 @onready var body_tracker: Node = $BodyTracker
 @onready var teleop_client: Node = $TeleopClient
 @onready var xr_origin: XROrigin3D = $XROrigin3D
 @onready var xr_camera: XRCamera3D = $XROrigin3D/XRCamera3D
 @onready var webcam_quad: MeshInstance3D = $XROrigin3D/XRCamera3D/WebcamQuad
+@onready var start_screen: Node3D = $XROrigin3D/StartScreen
+@onready var left_controller: XRController3D = $XROrigin3D/LeftController
+@onready var right_controller: XRController3D = $XROrigin3D/RightController
+@onready var vr_pointer: Node3D = $VRUIPointer
 
 var xr_interface: XRInterface
 var xr_is_focused: bool = false
+var current_phase: Phase = Phase.CONFIG
+var _panel_positioned: bool = false
 
 
 func _ready() -> void:
+	# Hide webcam quad and start screen until positioned
+	webcam_quad.visible = false
+	start_screen.visible = false
+
 	# Initialize OpenXR interface
 	xr_interface = XRServer.find_interface("OpenXR")
 	if xr_interface and xr_interface.is_initialized():
@@ -35,12 +49,53 @@ func _ready() -> void:
 	# Enable XR on the viewport
 	get_viewport().use_xr = true
 
-	# Wire body tracker output to teleop client
-	body_tracker.tracking_data_ready.connect(teleop_client._on_tracking_data)
+	# Connect start screen signals
+	start_screen.connect_requested.connect(_on_connect_requested)
+	start_screen.launch_ar_requested.connect(_on_launch_ar_requested)
+
+	# Connect teleop client connection state to start screen
+	teleop_client.connection_state_changed.connect(_on_connection_state_changed)
 
-	# Wire webcam frames from teleop client to webcam display
+	# Wire webcam frames (can happen anytime we're connected)
 	teleop_client.webcam_frame_received.connect(webcam_quad._on_webcam_frame)
 
+	# Setup VR pointer with references to controllers and XR origin
+	vr_pointer.setup(xr_origin, xr_camera, left_controller, right_controller)
+
+	# Setup body tracker visualization
+	body_tracker.setup(xr_origin)
+
+	print("[Main] Starting in CONFIG phase")
+
+
+func _process(_delta: float) -> void:
+	if not _panel_positioned and current_phase == Phase.CONFIG:
+		# Wait until we have valid head tracking data to position the panel
+		var hmd := XRServer.get_hmd_transform()
+		if hmd.origin != Vector3.ZERO and hmd.origin.y > 0.3:
+			_position_panel_in_front_of_user(hmd)
+			_panel_positioned = true
+
+
+func _position_panel_in_front_of_user(hmd: Transform3D) -> void:
+	# Place the panel 1.2m in front of the user at their eye height
+	var forward := -hmd.basis.z
+	forward.y = 0  # Project onto horizontal plane
+	if forward.length() < 0.01:
+		forward = Vector3(0, 0, -1)
+	forward = forward.normalized()
+
+	var panel_pos := hmd.origin + forward * 1.2
+	panel_pos.y = hmd.origin.y  # Same height as eyes
+
+	start_screen.global_position = panel_pos
+	# Face the panel toward the user
+	# look_at() points -Z at target, but QuadMesh front face is +Z, so rotate 180
+	start_screen.look_at(hmd.origin, Vector3.UP)
+	start_screen.rotate_y(PI)
+	start_screen.visible = true
+	print("[Main] Panel positioned at %s (user at %s)" % [panel_pos, hmd.origin])
+
 
 func _on_openxr_session_begun() -> void:
 	print("[Main] OpenXR session begun")
@@ -48,8 +103,10 @@ func _on_openxr_session_begun() -> void:
 
 
 func _on_openxr_ready() -> void:
-	# Enable passthrough (Quest 3 mixed reality)
-	_enable_passthrough()
+	# In CONFIG phase, we stay in opaque/dark VR mode
+	# Passthrough is only enabled when user clicks "Launch AR"
+	if current_phase == Phase.AR:
+		_enable_passthrough()
 
 
 func _on_openxr_focused() -> void:
@@ -62,19 +119,48 @@ func _on_openxr_stopping() -> void:
 	print("[Main] OpenXR session stopping")
 
 
+func _on_connect_requested(host: String, port: int) -> void:
+	print("[Main] Connect requested: %s:%d" % [host, port])
+	# If already connected, disconnect first
+	if teleop_client.is_connected:
+		teleop_client.disconnect_from_server()
+		return
+
+	teleop_client.server_host = host
+	teleop_client.server_port = port
+	teleop_client.connect_to_server()
+
+
+func _on_connection_state_changed(connected: bool) -> void:
+	start_screen.set_connected(connected)
+
+
+func _on_launch_ar_requested() -> void:
+	if current_phase == Phase.AR:
+		return
+
+	print("[Main] Launching AR mode")
+	current_phase = Phase.AR
+
+	# Enable passthrough
+	_enable_passthrough()
+
+	# Wire body tracker to teleop client
+	body_tracker.tracking_data_ready.connect(teleop_client._on_tracking_data)
+
+	# Show webcam quad, hide start screen
+	webcam_quad.visible = true
+	start_screen.hide_screen()
+
+
 func _enable_passthrough() -> void:
-	# Request passthrough blend mode for mixed reality
-	# Environment blend mode 3 = alpha blend (passthrough)
 	var openxr = xr_interface as OpenXRInterface
 	if openxr:
-		# Try to start passthrough
 		var modes = openxr.get_supported_environment_blend_modes()
 		print("[Main] Supported blend modes: ", modes)
-		# XR_ENVIRONMENT_BLEND_MODE_ALPHA_BLEND = 2 in Godot's enum
 		if XRInterface.XR_ENV_BLEND_MODE_ALPHA_BLEND in modes:
 			openxr.set_environment_blend_mode(XRInterface.XR_ENV_BLEND_MODE_ALPHA_BLEND)
 			print("[Main] Passthrough enabled (alpha blend)")
-			# Clear background to transparent
 			get_viewport().transparent_bg = true
 			RenderingServer.set_default_clear_color(Color(0, 0, 0, 0))
 		else:

Main.gd.uid

@@ -0,0 +1 @@
+uid://c4co4sxvbrqxn

Main.tscn

@@ -1,10 +1,11 @@
-[gd_scene load_steps=6 format=3 uid="uid://main_scene"]
+[gd_scene load_steps=7 format=3 uid="uid://ttx3xgp56hlv"]
 
 [ext_resource type="Script" path="res://Main.gd" id="1"]
 [ext_resource type="Script" path="res://scripts/body_tracker.gd" id="2"]
 [ext_resource type="Script" path="res://scripts/teleop_client.gd" id="3"]
-[ext_resource type="Script" path="res://scripts/webcam_display.gd" id="4"]
 [ext_resource type="PackedScene" path="res://scenes/webcam_quad.tscn" id="5"]
+[ext_resource type="PackedScene" path="res://scenes/start_screen.tscn" id="6"]
+[ext_resource type="Script" path="res://scripts/vr_ui_pointer.gd" id="7"]
 
 [node name="Main" type="Node3D"]
 script = ExtResource("1")
@@ -13,17 +14,34 @@ script = ExtResource("1")
 
 [node name="XRCamera3D" type="XRCamera3D" parent="XROrigin3D"]
 
+[node name="WebcamQuad" parent="XROrigin3D/XRCamera3D" instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.3, -1.5)
+
+[node name="StartScreen" parent="XROrigin3D" instance=ExtResource("6")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.5, -1.5)
+
 [node name="LeftController" type="XRController3D" parent="XROrigin3D"]
 tracker = &"left_hand"
+pose = &"aim_pose"
 
 [node name="RightController" type="XRController3D" parent="XROrigin3D"]
 tracker = &"right_hand"
+pose = &"aim_pose"
+
+[node name="LeftHandTracker" type="XRNode3D" parent="XROrigin3D"]
+tracker = &"/user/hand_tracker/left"
+show_when_tracked = true
 
-[node name="BodyTracker" type="Node" parent="."]
+[node name="RightHandTracker" type="XRNode3D" parent="XROrigin3D"]
+tracker = &"/user/hand_tracker/right"
+show_when_tracked = true
+
+[node name="VRUIPointer" type="Node3D" parent="."]
+script = ExtResource("7")
+
+[node name="BodyTracker" type="Node3D" parent="."]
 script = ExtResource("2")
 
 [node name="TeleopClient" type="Node" parent="."]
 script = ExtResource("3")
-
-[node name="WebcamQuad" parent="XROrigin3D/XRCamera3D" instance=ExtResource("5")]
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.3, -1.5)
+auto_connect = false

addons/godotopenxrvendors/GodotOpenXRVendors_CHANGES.md

@@ -1,5 +1,105 @@
 # Change history for the Godot OpenXR loaders asset
 
+## 4.3.0
+
+- Fix issue with instant splash screen
+- Explicitly assign hand tracking mesh skeleton property to parent Skeleton3D
+- Add Linux arm64 builds
+- Minor tweaks to `XR_FB_space_warp` delta pose calculation and the sample
+- Add support and manual page for `XR_ANDROID_scene_meshing` extension
+- Add manual page for Android XR Passthrough Camera State
+- Add documentation about Meta Boundary Visibility extension
+- Add manual page for vendor performance metrics
+- Add support and manual page for `XR_ANDROID_light_estimation` extension
+- Add support and documentation for `XR_ANDROID_eye_tracking` extension
+- Add support for `XR_META_colocation_discovery` extension
+- Add the necessary permissions to enable EXT spatial entities on Meta headsets
+- Fix errors in Meta Environment Depth documentation
+- Add manual page for Body and Face Tracking
+- Add manual page for Meta Color Space
+- Only add shader globals when the environment depth extensions are enabled
+- Add support and documentation for `XR_ANDROID_face_tracking` extension
+- Fix issues with Meta hand-tracking extensions on Android XR
+- Add support and manual page for `XR_ANDROID_depth_texture` extension
+- Add XR Project Setup Wizard
+
+## 4.2.2
+
+- Fix crashes when using the plugin on Godot 4.4.x
+- Fix background opacity on Android XR when using Compatibility renderer
+
+## 4.2.1
+
+- Fix generation of 16kb page compatible binaries
+- Fix logic to detect when running on Android XR devices
+- Fix the logic used to transfer data between hybrid apps' modes
+- Fix generation of the release asset
+
+## 4.2.0
+
+- Add support for the **Android XR** OpenXR vendor
+- Implement `XR_ANDROID_passthrough_camera_state` extension
+- Implement `XR_ANDROID_performance_metrics` extension
+- Document the settings required to make an app have a passthrough loading screen
+- Add experimental support for the `XR_ML_marker_understanding` extension
+- Fix the missing `com.oculus.permission.USE_SCENE` permission for the environment depth feature
+- Add the required permission for enabling spatial entities on Pico devices
+- Fix missing sample links for the passthrough and composition layer documentation pages
+- Only add the global shader uniforms for Meta environment depth when it's enabled
+- Fix missing shader uniform and Godot version in `project.godot` for meta-scene-sample
+- Use `gdformat` to ensure consistent GDScript coding standards in CI
+- Fix `OpenXRFbHandTrackingMesh` changes after startup and detecting when it's not supported
+- Generate native debug symbols for Android
+- Fix the manifest configuration for boundaryless apps: set `android.hardware.vr.headtracking` to `required="true"`
+- Fix running the meta-scene-sample on Godot 4.4
+- Add `quest3s` to the list of supported devices
+- Fix errors reported by `XrApiLayer_core_validation`
+- Allow using bilinear filtering in reprojection and provide example for smoothing in a shader
+- Implement `XR_META_performance_metrics` extension
+- Add documentation page about Meta Environment Depth
+- Add method for getting the Meta environment depth map on the CPU side
+- Clear `XRServer#remove_tracker` errors when closing the Godot editor
+- Fix Meta passthrough when rendering with "Separate" thread model
+- Fix `XR_META_environment_depth` when rendering with "Separate" thread model
+- Fix issues with invalid data returned by `xrGetHandMeshFB`
+- Implement `XR_META_headset_id` extension
+- Implement `XR_META_simultaneous_hands_and_controllers` extension
+
+## 4.1.1
+
+- Update the export plugin version to match the maven central release
+
+## 4.1.0
+
+- Implement `XR_META_boundary_visibility` extension
+- Add HorizonOS camera permissions when the Android CAMERA permission is enabled
+- Implement `XR_FB_space_warp` extension (only with Godot 4.5+)
+- Implement `XR_META_environment_depth` extension (only with Godot 4.5+)
+- Implement `XR_FB_color_space` extension
+- Update OpenXR to 1.1.49 release
+- Implement `XR_META_body_tracking_full_body`, `XR_META_body_tracking_fidelity` and `XR_META_body_tracking_callibration`
+- Clean-up editor plugins and class registration
+- `OpenXRFbSceneManager`: Clarify how to check if scene capture is possible
+
+## 4.0.0
+
+- Support making hybrid apps for Meta headsets
+- Add support for `XR_FB_android_surface_swapchain_create`
+- Implement `XR_META_recommended_layer_resolution`
+- Remove CMake from the build process
+- Implement instant splash screen for Meta headsets
+- Avoid casting errors when building with `precision=double`
+- Add missing Pico store manifest
+- Add support for `XR_FB_composition_layer_image_layout`
+- Update demo and samples for Godot 4.4
+- Switch Meta and Lynx to the Khronos loader
+- Fix `OpenXRFbSpatialEntityStorageExtensionWrapper` typos
+- Add support for `XR_FB_composition_layer_depth_test`
+- Use project settings to avoid enabling unneeded OpenXR extensions
+- Passthrough extensions should override real alpha blend mode, if enabled
+- Update the main manifest with the latest from the Khronos OpenXR loader AAR
+- Improve hand tracking related code in demo project
+
 ## 3.1.2
 - Fix passthrough sample color map display bug
 - Fix the issue preventing overridden vendor options from being updated
@@ -43,6 +143,10 @@
 - Add manifest entries to Pico and switch Pico to using the Khronos Loader
 - Add Meta Passthrough tutorial doc
 
+## 2.0.4
+- Fix misc crash when reloading project on Godot 4.3
+- Fix issue with only the first permission being requested
+
 ## 2.0.3
 - Migrate the export scripts from gdscript to C++ via gdextension
 - Manually request eye tracking permission if it's included in the app manifest

addons/godotopenxrvendors/androidxr/LICENSE

@@ -0,0 +1,203 @@
+
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+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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addons/godotopenxrvendors/meta/LICENSE-LOADER

@@ -0,0 +1,203 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
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+      "License" shall mean the terms and conditions for use, reproduction,
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+

addons/godotopenxrvendors/plugin.gdextension

@@ -1,7 +1,7 @@
 [configuration]
 
 entry_symbol = "plugin_library_init"
-compatibility_minimum = "4.3"
+compatibility_minimum = "4.4"
 android_aar_plugin = true
 
 [libraries]
@@ -16,3 +16,5 @@ windows.debug.x86_64 = "res://addons/godotopenxrvendors/.bin/windows/template_de
 windows.release.x86_64 = "res://addons/godotopenxrvendors/.bin/windows/template_release/x86_64/libgodotopenxrvendors.dll"
 linux.debug.x86_64 = "res://addons/godotopenxrvendors/.bin/linux/template_debug/x86_64/libgodotopenxrvendors.so"
 linux.release.x86_64 = "res://addons/godotopenxrvendors/.bin/linux/template_release/x86_64/libgodotopenxrvendors.so"
+linux.debug.arm64 = "res://addons/godotopenxrvendors/.bin/linux/template_debug/arm64/libgodotopenxrvendors.so"
+linux.release.arm64 = "res://addons/godotopenxrvendors/.bin/linux/template_release/arm64/libgodotopenxrvendors.so"

addons/godotopenxrvendors/plugin.gdextension.uid

@@ -0,0 +1 @@
+uid://u32t56vkch04

android/AndroidManifest.xml

@@ -1,35 +1,38 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Additional manifest entries for Quest 3 body tracking.
-     These are merged into the final AndroidManifest.xml by Godot's build system
-     when using the Meta OpenXR Vendors plugin.
-
-     Key extensions enabled:
-     - XR_FB_body_tracking (70 joints including chest)
-     - XR_META_body_tracking_full_body (v4.1.1+)
-     - XR_EXT_hand_tracking (fallback, if body tracking unavailable)
-     - Passthrough (mixed reality)
--->
-<manifest xmlns:android="http://schemas.android.com/apk/res/android">
-
-    <!-- Required permissions -->
+<!-- User manifest overlay - merged with the build template manifest.
+     Adds Quest-specific features that the Godot 4.6.1 export plugin
+     does not inject automatically. -->
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools">
+
+    <!-- Network permissions for WebSocket connection to robot server -->
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
 
-    <!-- Meta Quest features -->
-    <uses-feature android:name="com.oculus.feature.PASSTHROUGH" android:required="true" />
-    <uses-feature android:name="oculus.software.body_tracking" android:required="true" />
+    <!-- Hand tracking support - prevents "need controllers" dialog -->
     <uses-feature android:name="oculus.software.handtracking" android:required="false" />
 
+    <!-- Passthrough AR mode -->
+    <uses-feature android:name="com.oculus.feature.PASSTHROUGH" android:required="true" />
+
+    <!-- Body tracking -->
+    <uses-feature android:name="oculus.software.body_tracking" android:required="false" />
+
+    <!-- VR head tracking - override template's required=false -->
+    <uses-feature
+        android:name="android.hardware.vr.headtracking"
+        android:required="true"
+        android:version="1"
+        tools:replace="android:required" />
+
     <application>
-        <!-- Body tracking metadata -->
-        <meta-data android:name="com.oculus.supportedDevices" android:value="quest3|quest3s|questpro" />
-        <meta-data android:name="com.oculus.intent.category.VR" android:value="vr_only" />
+        <!-- Hand tracking configuration -->
+        <meta-data android:name="com.oculus.handtracking.frequency" android:value="HIGH" />
+        <meta-data android:name="com.oculus.handtracking.version" android:value="V2.0" />
 
-        <!-- Enable body tracking API -->
+        <!-- Body tracking configuration -->
         <meta-data android:name="com.oculus.bodytracking.enabled" android:value="true" />
-
-        <!-- Request full body tracking (includes upper body by default) -->
         <meta-data android:name="com.oculus.bodytracking.full_body" android:value="true" />
     </application>
 

android/build/src/standard/AndroidManifest.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Quest-specific manifest entries merged via Android Gradle Plugin's
+     manifest merger. Placed in 'standard' product flavor so Godot's export
+     (which only overwrites src/main/AndroidManifest.xml) won't touch it. -->
+<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <!-- Hand tracking permission - required for camera-based hand tracking access -->
+    <uses-permission android:name="com.oculus.permission.HAND_TRACKING" />
+
+    <!-- Body tracking permission -->
+    <uses-permission android:name="com.oculus.permission.BODY_TRACKING" />
+
+    <!-- Hand tracking support - prevents Quest "need controllers" dialog -->
+    <uses-feature android:name="oculus.software.handtracking" android:required="false" />
+
+    <!-- Passthrough AR mode -->
+    <uses-feature android:name="com.oculus.feature.PASSTHROUGH" android:required="true" />
+
+    <!-- Body tracking -->
+    <uses-feature android:name="oculus.software.body_tracking" android:required="false" />
+
+    <application>
+        <!-- Hand tracking configuration -->
+        <meta-data android:name="com.oculus.handtracking.frequency" android:value="HIGH" />
+        <meta-data android:name="com.oculus.handtracking.version" android:value="V2.0" />
+
+        <!-- Body tracking configuration -->
+        <meta-data android:name="com.oculus.bodytracking.enabled" android:value="true" />
+        <meta-data android:name="com.oculus.bodytracking.full_body" android:value="true" />
+    </application>
+
+</manifest>

build/build_461.bat

@@ -0,0 +1,2 @@
+@echo off
+"C:\git\g1-teleop\Godot4_6_1\Godot_v4.6.1-stable_win64_console.exe" --headless --quit --path "C:\git\g1-teleop" --export-debug "Quest 3" "C:\git\g1-teleop\build\g1-teleop.apk"

build/install_461.py

@@ -0,0 +1,57 @@
+"""Install Godot 4.6.1 export templates and OpenXR vendors plugin v4.3.0."""
+import zipfile
+import os
+import shutil
+
+# 1. Install OpenXR vendors plugin v4.3.0
+plugin_zip = r"C:\git\g1-teleop\build\godotopenxrvendors_v4.3.0.zip"
+addons_dir = r"C:\git\g1-teleop\addons"
+old_plugin = os.path.join(addons_dir, "godotopenxrvendors")
+
+if os.path.exists(plugin_zip):
+    print(f"[1/2] Installing OpenXR vendors plugin v4.3.0...")
+    # Remove old plugin
+    if os.path.exists(old_plugin):
+        print(f"  Removing old plugin at {old_plugin}")
+        shutil.rmtree(old_plugin)
+    # Extract new plugin - the zip contains addons/godotopenxrvendors/
+    with zipfile.ZipFile(plugin_zip, 'r') as z:
+        # List top-level to understand structure
+        names = z.namelist()
+        print(f"  Zip contains {len(names)} files")
+        if names[0].startswith("addons/"):
+            # Extract directly to project root
+            z.extractall(r"C:\git\g1-teleop")
+            print("  Extracted to project root (addons/ prefix)")
+        else:
+            # Extract to addons dir
+            z.extractall(addons_dir)
+            print(f"  Extracted to {addons_dir}")
+    print("  Done!")
+else:
+    print(f"[1/2] Plugin zip not found: {plugin_zip}")
+
+# 2. Install export templates
+tpz_file = r"C:\Users\John\AppData\Roaming\Godot\export_templates\godot461_templates.tpz"
+templates_dir = r"C:\Users\John\AppData\Roaming\Godot\export_templates\4.6.1.stable"
+
+if os.path.exists(tpz_file):
+    print(f"[2/2] Installing export templates...")
+    os.makedirs(templates_dir, exist_ok=True)
+    with zipfile.ZipFile(tpz_file, 'r') as z:
+        names = z.namelist()
+        print(f"  TPZ contains {len(names)} files")
+        # TPZ typically has templates/ prefix
+        for name in names:
+            if name.startswith("templates/") and not name.endswith("/"):
+                # Strip the templates/ prefix
+                dest_name = name[len("templates/"):]
+                dest_path = os.path.join(templates_dir, dest_name)
+                os.makedirs(os.path.dirname(dest_path), exist_ok=True)
+                with z.open(name) as src, open(dest_path, 'wb') as dst:
+                    shutil.copyfileobj(src, dst)
+        print(f"  Extracted to {templates_dir}")
+    print("  Done!")
+else:
+    print(f"[2/2] Export templates not yet downloaded: {tpz_file}")
+    print("  Run this script again after download completes.")

build/setup_android_template.py

@@ -0,0 +1,34 @@
+"""Manually install android build template from export templates."""
+import zipfile
+import os
+
+source_zip = r"C:\Users\John\AppData\Roaming\Godot\export_templates\4.6.1.stable\android_source.zip"
+dest_dir = r"C:\git\g1-teleop\android\build"
+
+if not os.path.exists(source_zip):
+    print(f"ERROR: android_source.zip not found at {source_zip}")
+    exit(1)
+
+os.makedirs(dest_dir, exist_ok=True)
+
+with zipfile.ZipFile(source_zip, 'r') as z:
+    names = z.namelist()
+    print(f"android_source.zip contains {len(names)} files")
+    # Show top-level structure
+    top = set()
+    for n in names:
+        parts = n.split('/')
+        if parts[0]:
+            top.add(parts[0])
+    print(f"Top-level entries: {sorted(top)}")
+
+    z.extractall(dest_dir)
+    print(f"Extracted to {dest_dir}")
+
+# Update build version
+version_file = r"C:\git\g1-teleop\android\.build_version"
+with open(version_file, 'w') as f:
+    f.write("4.6.1.stable\n")
+print(f"Updated {version_file} to 4.6.1.stable")
+
+print("\nDone!")

build/setup_vendor_plugin.py

@@ -0,0 +1,45 @@
+"""Copy OpenXR vendors plugin files to the gradle build directory."""
+import shutil
+import os
+
+project = r"C:\git\g1-teleop"
+build_dir = os.path.join(project, "android", "build")
+addons = os.path.join(project, "addons", "godotopenxrvendors")
+
+# 1. Copy Meta AAR to libs/debug and libs/plugins/debug
+for d in ["libs/debug", "libs/plugins/debug"]:
+    dest = os.path.join(build_dir, d)
+    os.makedirs(dest, exist_ok=True)
+    src = os.path.join(addons, ".bin", "android", "debug", "godotopenxr-meta-debug.aar")
+    if os.path.exists(src):
+        shutil.copy2(src, dest)
+        print(f"Copied meta debug AAR to {dest}")
+
+for d in ["libs/release", "libs/plugins/release"]:
+    dest = os.path.join(build_dir, d)
+    os.makedirs(dest, exist_ok=True)
+    src = os.path.join(addons, ".bin", "android", "release", "godotopenxr-meta-release.aar")
+    if os.path.exists(src):
+        shutil.copy2(src, dest)
+        print(f"Copied meta release AAR to {dest}")
+
+# 2. Copy libgodotopenxrvendors.so to libs/debug/arm64-v8a
+for build_type in ["debug", "release"]:
+    template = "template_debug" if build_type == "debug" else "template_release"
+    so_dir = os.path.join(build_dir, "libs", build_type, "arm64-v8a")
+    os.makedirs(so_dir, exist_ok=True)
+    src = os.path.join(addons, ".bin", "android", template, "arm64", "libgodotopenxrvendors.so")
+    if os.path.exists(src):
+        shutil.copy2(src, so_dir)
+        print(f"Copied libgodotopenxrvendors.so to {so_dir}")
+
+# 3. Copy the gdextension file to assets so it's included in the APK
+assets_addons = os.path.join(build_dir, "src", "main", "assets", "addons", "godotopenxrvendors")
+os.makedirs(assets_addons, exist_ok=True)
+for f in ["plugin.gdextension", "plugin.gdextension.uid"]:
+    src = os.path.join(addons, f)
+    if os.path.exists(src):
+        shutil.copy2(src, assets_addons)
+        print(f"Copied {f} to assets")
+
+print("\nDone! Now rebuild the APK.")

export_presets.cfg

@@ -39,9 +39,17 @@ launcher_icons/adaptive_foreground_432x432=""
 launcher_icons/adaptive_background_432x432=""
 graphics/opengl_debug=false
 xr_features/xr_mode=1
-xr_features/hand_tracking=2
-xr_features/hand_tracking_frequency=1
-xr_features/passthrough=2
+xr_features/enable_meta_plugin=true
+meta_xr_features/hand_tracking=2
+meta_xr_features/hand_tracking_frequency=1
+meta_xr_features/passthrough=2
+meta_xr_features/body_tracking=2
+meta_xr_features/quest_1_support=false
+meta_xr_features/quest_2_support=true
+meta_xr_features/quest_3_support=true
+meta_xr_features/quest_pro_support=true
+meta_xr_features/use_experimental_features=false
+meta_xr_features/boundary_mode=0
 permissions/internet=true
 permissions/access_network_state=true
 permissions/access_wifi_state=true

openxr_action_map.tres

@@ -1,3 +1,307 @@
 [gd_resource type="OpenXRActionMap" format=3 uid="uid://openxr_actions"]
 
+[sub_resource type="OpenXRAction" id="OpenXRAction_aim"]
+resource_name = "aim_pose"
+localized_name = "Aim Pose"
+action_type = 3
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_grip"]
+resource_name = "grip_pose"
+localized_name = "Grip Pose"
+action_type = 3
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_palm"]
+resource_name = "palm_pose"
+localized_name = "Palm Pose"
+action_type = 3
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_trigger"]
+resource_name = "trigger"
+localized_name = "Trigger"
+action_type = 0
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_trigger_click"]
+resource_name = "trigger_click"
+localized_name = "Trigger Click"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_trigger_touch"]
+resource_name = "trigger_touch"
+localized_name = "Trigger Touch"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_grip_val"]
+resource_name = "grip"
+localized_name = "Grip"
+action_type = 0
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_grip_click"]
+resource_name = "grip_click"
+localized_name = "Grip Click"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_menu"]
+resource_name = "menu_button"
+localized_name = "Menu Button"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_select"]
+resource_name = "select_button"
+localized_name = "Select Button"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_ax"]
+resource_name = "ax_button"
+localized_name = "A/X Button"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_by"]
+resource_name = "by_button"
+localized_name = "B/Y Button"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_ax_touch"]
+resource_name = "ax_touch"
+localized_name = "A/X Touch"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_by_touch"]
+resource_name = "by_touch"
+localized_name = "B/Y Touch"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_thumbstick"]
+resource_name = "thumbstick"
+localized_name = "Thumbstick"
+action_type = 2
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_thumbstick_click"]
+resource_name = "thumbstick_click"
+localized_name = "Thumbstick Click"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_thumbstick_touch"]
+resource_name = "thumbstick_touch"
+localized_name = "Thumbstick Touch"
+action_type = 1
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRAction" id="OpenXRAction_haptic"]
+resource_name = "haptic"
+localized_name = "Haptic"
+action_type = 4
+toplevel_paths = PackedStringArray("/user/hand/left", "/user/hand/right")
+
+[sub_resource type="OpenXRActionSet" id="OpenXRActionSet_godot"]
+resource_name = "godot"
+localized_name = "Godot Action Set"
+priority = 0
+actions = [SubResource("OpenXRAction_aim"), SubResource("OpenXRAction_grip"), SubResource("OpenXRAction_palm"), SubResource("OpenXRAction_trigger"), SubResource("OpenXRAction_trigger_click"), SubResource("OpenXRAction_trigger_touch"), SubResource("OpenXRAction_grip_val"), SubResource("OpenXRAction_grip_click"), SubResource("OpenXRAction_menu"), SubResource("OpenXRAction_select"), SubResource("OpenXRAction_ax"), SubResource("OpenXRAction_by"), SubResource("OpenXRAction_ax_touch"), SubResource("OpenXRAction_by_touch"), SubResource("OpenXRAction_thumbstick"), SubResource("OpenXRAction_thumbstick_click"), SubResource("OpenXRAction_thumbstick_touch"), SubResource("OpenXRAction_haptic")]
+
+[sub_resource type="OpenXRIPBinding" id="simple_aim"]
+action = SubResource("OpenXRAction_aim")
+paths = PackedStringArray("/user/hand/left/input/aim/pose", "/user/hand/right/input/aim/pose")
+
+[sub_resource type="OpenXRIPBinding" id="simple_grip"]
+action = SubResource("OpenXRAction_grip")
+paths = PackedStringArray("/user/hand/left/input/grip/pose", "/user/hand/right/input/grip/pose")
+
+[sub_resource type="OpenXRIPBinding" id="simple_select"]
+action = SubResource("OpenXRAction_select")
+paths = PackedStringArray("/user/hand/left/input/select/click", "/user/hand/right/input/select/click")
+
+[sub_resource type="OpenXRIPBinding" id="simple_menu"]
+action = SubResource("OpenXRAction_menu")
+paths = PackedStringArray("/user/hand/left/input/menu/click", "/user/hand/right/input/menu/click")
+
+[sub_resource type="OpenXRIPBinding" id="simple_haptic"]
+action = SubResource("OpenXRAction_haptic")
+paths = PackedStringArray("/user/hand/left/output/haptic", "/user/hand/right/output/haptic")
+
+[sub_resource type="OpenXRInteractionProfile" id="profile_simple"]
+interaction_profile_path = "/interaction_profiles/khr/simple_controller"
+bindings = [SubResource("simple_aim"), SubResource("simple_grip"), SubResource("simple_select"), SubResource("simple_menu"), SubResource("simple_haptic")]
+
+[sub_resource type="OpenXRIPBinding" id="touch_aim"]
+action = SubResource("OpenXRAction_aim")
+paths = PackedStringArray("/user/hand/left/input/aim/pose", "/user/hand/right/input/aim/pose")
+
+[sub_resource type="OpenXRIPBinding" id="touch_grip"]
+action = SubResource("OpenXRAction_grip")
+paths = PackedStringArray("/user/hand/left/input/grip/pose", "/user/hand/right/input/grip/pose")
+
+[sub_resource type="OpenXRIPBinding" id="touch_trigger"]
+action = SubResource("OpenXRAction_trigger")
+paths = PackedStringArray("/user/hand/left/input/trigger/value", "/user/hand/right/input/trigger/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_trigger_click"]
+action = SubResource("OpenXRAction_trigger_click")
+paths = PackedStringArray("/user/hand/left/input/trigger/value", "/user/hand/right/input/trigger/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_trigger_touch"]
+action = SubResource("OpenXRAction_trigger_touch")
+paths = PackedStringArray("/user/hand/left/input/trigger/touch", "/user/hand/right/input/trigger/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_grip_val"]
+action = SubResource("OpenXRAction_grip_val")
+paths = PackedStringArray("/user/hand/left/input/squeeze/value", "/user/hand/right/input/squeeze/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_grip_click"]
+action = SubResource("OpenXRAction_grip_click")
+paths = PackedStringArray("/user/hand/left/input/squeeze/value", "/user/hand/right/input/squeeze/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_menu"]
+action = SubResource("OpenXRAction_menu")
+paths = PackedStringArray("/user/hand/left/input/menu/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_ax"]
+action = SubResource("OpenXRAction_ax")
+paths = PackedStringArray("/user/hand/left/input/x/click", "/user/hand/right/input/a/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_by"]
+action = SubResource("OpenXRAction_by")
+paths = PackedStringArray("/user/hand/left/input/y/click", "/user/hand/right/input/b/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_ax_touch"]
+action = SubResource("OpenXRAction_ax_touch")
+paths = PackedStringArray("/user/hand/left/input/x/touch", "/user/hand/right/input/a/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_by_touch"]
+action = SubResource("OpenXRAction_by_touch")
+paths = PackedStringArray("/user/hand/left/input/y/touch", "/user/hand/right/input/b/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_thumbstick"]
+action = SubResource("OpenXRAction_thumbstick")
+paths = PackedStringArray("/user/hand/left/input/thumbstick", "/user/hand/right/input/thumbstick")
+
+[sub_resource type="OpenXRIPBinding" id="touch_thumbstick_click"]
+action = SubResource("OpenXRAction_thumbstick_click")
+paths = PackedStringArray("/user/hand/left/input/thumbstick/click", "/user/hand/right/input/thumbstick/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_thumbstick_touch"]
+action = SubResource("OpenXRAction_thumbstick_touch")
+paths = PackedStringArray("/user/hand/left/input/thumbstick/touch", "/user/hand/right/input/thumbstick/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_haptic"]
+action = SubResource("OpenXRAction_haptic")
+paths = PackedStringArray("/user/hand/left/output/haptic", "/user/hand/right/output/haptic")
+
+[sub_resource type="OpenXRInteractionProfile" id="profile_touch"]
+interaction_profile_path = "/interaction_profiles/oculus/touch_controller"
+bindings = [SubResource("touch_aim"), SubResource("touch_grip"), SubResource("touch_trigger"), SubResource("touch_trigger_click"), SubResource("touch_trigger_touch"), SubResource("touch_grip_val"), SubResource("touch_grip_click"), SubResource("touch_menu"), SubResource("touch_ax"), SubResource("touch_by"), SubResource("touch_ax_touch"), SubResource("touch_by_touch"), SubResource("touch_thumbstick"), SubResource("touch_thumbstick_click"), SubResource("touch_thumbstick_touch"), SubResource("touch_haptic")]
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_aim"]
+action = SubResource("OpenXRAction_aim")
+paths = PackedStringArray("/user/hand/left/input/aim/pose", "/user/hand/right/input/aim/pose")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_grip"]
+action = SubResource("OpenXRAction_grip")
+paths = PackedStringArray("/user/hand/left/input/grip/pose", "/user/hand/right/input/grip/pose")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_trigger"]
+action = SubResource("OpenXRAction_trigger")
+paths = PackedStringArray("/user/hand/left/input/trigger/value", "/user/hand/right/input/trigger/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_trigger_click"]
+action = SubResource("OpenXRAction_trigger_click")
+paths = PackedStringArray("/user/hand/left/input/trigger/value", "/user/hand/right/input/trigger/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_trigger_touch"]
+action = SubResource("OpenXRAction_trigger_touch")
+paths = PackedStringArray("/user/hand/left/input/trigger/touch", "/user/hand/right/input/trigger/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_grip_val"]
+action = SubResource("OpenXRAction_grip_val")
+paths = PackedStringArray("/user/hand/left/input/squeeze/value", "/user/hand/right/input/squeeze/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_grip_click"]
+action = SubResource("OpenXRAction_grip_click")
+paths = PackedStringArray("/user/hand/left/input/squeeze/value", "/user/hand/right/input/squeeze/value")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_menu"]
+action = SubResource("OpenXRAction_menu")
+paths = PackedStringArray("/user/hand/left/input/menu/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_ax"]
+action = SubResource("OpenXRAction_ax")
+paths = PackedStringArray("/user/hand/left/input/x/click", "/user/hand/right/input/a/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_by"]
+action = SubResource("OpenXRAction_by")
+paths = PackedStringArray("/user/hand/left/input/y/click", "/user/hand/right/input/b/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_ax_touch"]
+action = SubResource("OpenXRAction_ax_touch")
+paths = PackedStringArray("/user/hand/left/input/x/touch", "/user/hand/right/input/a/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_by_touch"]
+action = SubResource("OpenXRAction_by_touch")
+paths = PackedStringArray("/user/hand/left/input/y/touch", "/user/hand/right/input/b/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_thumbstick"]
+action = SubResource("OpenXRAction_thumbstick")
+paths = PackedStringArray("/user/hand/left/input/thumbstick", "/user/hand/right/input/thumbstick")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_thumbstick_click"]
+action = SubResource("OpenXRAction_thumbstick_click")
+paths = PackedStringArray("/user/hand/left/input/thumbstick/click", "/user/hand/right/input/thumbstick/click")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_thumbstick_touch"]
+action = SubResource("OpenXRAction_thumbstick_touch")
+paths = PackedStringArray("/user/hand/left/input/thumbstick/touch", "/user/hand/right/input/thumbstick/touch")
+
+[sub_resource type="OpenXRIPBinding" id="touch_plus_haptic"]
+action = SubResource("OpenXRAction_haptic")
+paths = PackedStringArray("/user/hand/left/output/haptic", "/user/hand/right/output/haptic")
+
+[sub_resource type="OpenXRInteractionProfile" id="profile_touch_plus"]
+interaction_profile_path = "/interaction_profiles/meta/touch_controller_plus"
+bindings = [SubResource("touch_plus_aim"), SubResource("touch_plus_grip"), SubResource("touch_plus_trigger"), SubResource("touch_plus_trigger_click"), SubResource("touch_plus_trigger_touch"), SubResource("touch_plus_grip_val"), SubResource("touch_plus_grip_click"), SubResource("touch_plus_menu"), SubResource("touch_plus_ax"), SubResource("touch_plus_by"), SubResource("touch_plus_ax_touch"), SubResource("touch_plus_by_touch"), SubResource("touch_plus_thumbstick"), SubResource("touch_plus_thumbstick_click"), SubResource("touch_plus_thumbstick_touch"), SubResource("touch_plus_haptic")]
+
+[sub_resource type="OpenXRIPBinding" id="hand_aim"]
+action = SubResource("OpenXRAction_aim")
+paths = PackedStringArray("/user/hand/left/input/aim/pose", "/user/hand/right/input/aim/pose")
+
+[sub_resource type="OpenXRIPBinding" id="hand_grip"]
+action = SubResource("OpenXRAction_grip")
+paths = PackedStringArray("/user/hand/left/input/grip/pose", "/user/hand/right/input/grip/pose")
+
+[sub_resource type="OpenXRIPBinding" id="hand_trigger"]
+action = SubResource("OpenXRAction_trigger")
+paths = PackedStringArray("/user/hand/left/input/pinch_ext/value", "/user/hand/right/input/pinch_ext/value")
+
+[sub_resource type="OpenXRIPBinding" id="hand_trigger_click"]
+action = SubResource("OpenXRAction_trigger_click")
+paths = PackedStringArray("/user/hand/left/input/pinch_ext/ready_ext", "/user/hand/right/input/pinch_ext/ready_ext")
+
+[sub_resource type="OpenXRIPBinding" id="hand_grip_val"]
+action = SubResource("OpenXRAction_grip_val")
+paths = PackedStringArray("/user/hand/left/input/grasp_ext/value", "/user/hand/right/input/grasp_ext/value")
+
+[sub_resource type="OpenXRIPBinding" id="hand_grip_click"]
+action = SubResource("OpenXRAction_grip_click")
+paths = PackedStringArray("/user/hand/left/input/grasp_ext/ready_ext", "/user/hand/right/input/grasp_ext/ready_ext")
+
+[sub_resource type="OpenXRInteractionProfile" id="profile_hand_interaction"]
+interaction_profile_path = "/interaction_profiles/ext/hand_interaction_ext"
+bindings = [SubResource("hand_aim"), SubResource("hand_grip"), SubResource("hand_trigger"), SubResource("hand_trigger_click"), SubResource("hand_grip_val"), SubResource("hand_grip_click")]
+
 [resource]
+action_sets = [SubResource("OpenXRActionSet_godot")]
+interaction_profiles = [SubResource("profile_simple"), SubResource("profile_touch"), SubResource("profile_touch_plus"), SubResource("profile_hand_interaction")]

project.godot

@@ -3,9 +3,8 @@
 ; since the parameters that go here are not all obvious.
 ;
 ; Format:
-;   [section] is a section
-;   param=value ; assigned a value
-;   param=value ; assigned a value
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
 
 config_version=5
 
@@ -14,11 +13,9 @@ config_version=5
 config/name="G1 Teleop"
 config/description="Native Quest 3 teleoperation app for Unitree G1 humanoid robot with body tracking"
 run/main_scene="res://Main.tscn"
-config/features=PackedStringArray("4.3", "Mobile")
+config/features=PackedStringArray("4.6", "Mobile")
 config/icon="res://icon.svg"
 
-[autoload]
-
 [display]
 
 window/size/viewport_width=1920
@@ -27,18 +24,20 @@ window/size/viewport_height=1920
 [rendering]
 
 renderer/rendering_method="mobile"
-renderer/rendering_method.mobile="mobile"
 textures/vram_compression/import_etc2_astc=true
 
 [xr]
 
 openxr/enabled=true
-openxr/default_action_map="res://openxr_action_map.tres"
 openxr/form_factor=0
 openxr/view_configuration=1
 openxr/reference_space=1
 openxr/environment_blend_mode=0
 openxr/foveation_level=3
 openxr/foveation_dynamic=true
+openxr/extensions/hand_tracking=true
+openxr/extensions/hand_tracking_unobstructed_data_source=true
+openxr/extensions/hand_tracking_controller_data_source=true
+openxr/extensions/hand_interaction_profile=true
+openxr/extensions/meta/body_tracking=true
 shaders/enabled=true
-

scenes/start_screen.tscn

@@ -0,0 +1,112 @@
+[gd_scene load_steps=6 format=3 uid="uid://start_screen_01"]
+
+[ext_resource type="Script" path="res://scripts/start_screen.gd" id="1"]
+
+[sub_resource type="QuadMesh" id="QuadMesh_1"]
+size = Vector2(0.8, 0.6)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_1"]
+shading_mode = 0
+albedo_color = Color(0.15, 0.15, 0.2, 1)
+
+[sub_resource type="Theme" id="Theme_1"]
+default_font_size = 28
+
+[sub_resource type="StyleBoxFlat" id="StyleBoxFlat_1"]
+bg_color = Color(0.12, 0.12, 0.18, 1)
+corner_radius_top_left = 12
+corner_radius_top_right = 12
+corner_radius_bottom_right = 12
+corner_radius_bottom_left = 12
+
+[node name="StartScreen" type="Node3D"]
+script = ExtResource("1")
+
+[node name="UIMesh" type="MeshInstance3D" parent="."]
+mesh = SubResource("QuadMesh_1")
+material_override = SubResource("StandardMaterial3D_1")
+
+[node name="SubViewport" type="SubViewport" parent="UIMesh"]
+transparent_bg = false
+handle_input_locally = true
+size = Vector2i(1024, 768)
+render_target_update_mode = 3
+
+[node name="PanelContainer" type="PanelContainer" parent="UIMesh/SubViewport"]
+anchors_preset = 15
+anchor_right = 1.0
+anchor_bottom = 1.0
+theme = SubResource("Theme_1")
+theme_override_styles/panel = SubResource("StyleBoxFlat_1")
+
+[node name="MarginContainer" type="MarginContainer" parent="UIMesh/SubViewport/PanelContainer"]
+layout_mode = 2
+theme_override_constants/margin_left = 60
+theme_override_constants/margin_top = 40
+theme_override_constants/margin_right = 60
+theme_override_constants/margin_bottom = 40
+
+[node name="VBox" type="VBoxContainer" parent="UIMesh/SubViewport/PanelContainer/MarginContainer"]
+layout_mode = 2
+theme_override_constants/separation = 20
+
+[node name="Title" type="Label" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+theme_override_font_sizes/font_size = 48
+text = "G1 Teleop"
+horizontal_alignment = 1
+
+[node name="HSeparator" type="HSeparator" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+
+[node name="ServerRow" type="HBoxContainer" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+theme_override_constants/separation = 12
+
+[node name="Label" type="Label" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/ServerRow"]
+layout_mode = 2
+custom_minimum_size = Vector2(180, 0)
+text = "Server:"
+
+[node name="HostInput" type="LineEdit" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/ServerRow"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "10.0.0.64"
+placeholder_text = "IP address or hostname"
+virtual_keyboard_enabled = true
+
+[node name="PortRow" type="HBoxContainer" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+theme_override_constants/separation = 12
+
+[node name="Label" type="Label" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/PortRow"]
+layout_mode = 2
+custom_minimum_size = Vector2(180, 0)
+text = "Port:"
+
+[node name="PortInput" type="LineEdit" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/PortRow"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "8765"
+placeholder_text = "Port number"
+virtual_keyboard_enabled = true
+
+[node name="ConnectButton" type="Button" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+custom_minimum_size = Vector2(0, 60)
+text = "Connect to Server"
+
+[node name="StatusLabel" type="Label" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+theme_override_colors/font_color = Color(0.7, 0.7, 0.7, 1)
+text = "Not connected"
+horizontal_alignment = 1
+
+[node name="HSeparator2" type="HSeparator" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+
+[node name="LaunchARButton" type="Button" parent="UIMesh/SubViewport/PanelContainer/MarginContainer/VBox"]
+layout_mode = 2
+custom_minimum_size = Vector2(0, 70)
+theme_override_font_sizes/font_size = 36
+text = "Launch AR"

scripts/body_tracker.gd

@@ -1,6 +1,7 @@
-extends Node
+extends Node3D
 ## Reads XR_FB_body_tracking joints each frame via Godot's XRBodyTracker.
 ## Computes chest-relative wrist positions and emits tracking data.
+## Visualizes all body joints as colored spheres.
 ##
 ## Meta body tracking provides 70 joints. We use:
 ##   CHEST (5)  - torso orientation (solves body rotation problem)
@@ -17,6 +18,7 @@ signal tracking_data_ready(data: Dictionary)
 
 ## Joint indices from XR_FB_body_tracking
 ## Reference: Meta OpenXR body tracking extension
+const JOINT_ROOT := 0
 const JOINT_HIPS := 1
 const JOINT_SPINE_LOWER := 2
 const JOINT_SPINE_MIDDLE := 3
@@ -46,6 +48,14 @@ const HAND_JOINT_COUNT := 25
 ## Total body joint count
 const BODY_JOINT_COUNT := 70
 
+## Joint visualization colors
+const COLOR_BODY := Color(1.0, 0.7, 0.2, 1.0)       # Orange - spine/torso
+const COLOR_HEAD := Color(1.0, 1.0, 1.0, 1.0)        # White
+const COLOR_LEFT_ARM := Color(0.3, 0.5, 1.0, 1.0)    # Blue
+const COLOR_RIGHT_ARM := Color(0.3, 1.0, 0.5, 1.0)   # Green
+const COLOR_LEFT_HAND := Color(0.5, 0.7, 1.0, 1.0)   # Light blue
+const COLOR_RIGHT_HAND := Color(0.5, 1.0, 0.7, 1.0)  # Light green
+
 ## Tracking state
 var body_tracker_name: StringName = &"/user/body_tracker"
 var is_tracking: bool = false
@@ -58,11 +68,59 @@ var frames_since_last_send: int = 0
 @export var debug_log: bool = false
 var _log_counter: int = 0
 
+## Joint visualization
+var _xr_origin: XROrigin3D
+var _joint_spheres: Array = []  # Array of MeshInstance3D, indexed by joint
+
+
+func setup(xr_origin: XROrigin3D) -> void:
+	_xr_origin = xr_origin
+	_create_joint_spheres()
+
 
 func _ready() -> void:
 	print("[BodyTracker] Initialized, waiting for body tracking data...")
 
 
+func _create_joint_spheres() -> void:
+	var body_mesh := SphereMesh.new()
+	body_mesh.radius = 0.025
+	body_mesh.height = 0.05
+
+	# Only create spheres for body joints (0-17), skip hand joints (18-69)
+	# Hand joints are already visualized by vr_ui_pointer.gd
+	_joint_spheres.resize(BODY_JOINT_COUNT)
+	for i in range(BODY_JOINT_COUNT):
+		if i >= JOINT_LEFT_HAND_START:
+			_joint_spheres[i] = null
+			continue
+		var s := MeshInstance3D.new()
+		s.mesh = body_mesh
+		var mat := StandardMaterial3D.new()
+		mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+		mat.albedo_color = _get_joint_color(i)
+		s.material_override = mat
+		s.visible = false
+		add_child(s)
+		_joint_spheres[i] = s
+
+
+func _get_joint_color(joint_idx: int) -> Color:
+	if joint_idx == JOINT_HEAD:
+		return COLOR_HEAD
+	elif joint_idx <= JOINT_NECK:
+		return COLOR_BODY
+	elif joint_idx >= JOINT_LEFT_SHOULDER and joint_idx <= JOINT_LEFT_HAND_WRIST:
+		return COLOR_LEFT_ARM
+	elif joint_idx >= JOINT_RIGHT_SHOULDER and joint_idx <= JOINT_RIGHT_HAND_WRIST:
+		return COLOR_RIGHT_ARM
+	elif joint_idx >= JOINT_LEFT_HAND_START and joint_idx < JOINT_RIGHT_HAND_START:
+		return COLOR_LEFT_HAND
+	elif joint_idx >= JOINT_RIGHT_HAND_START:
+		return COLOR_RIGHT_HAND
+	return COLOR_BODY
+
+
 func _process(_delta: float) -> void:
 	frames_since_last_send += 1
 	if frames_since_last_send < send_every_n_frames:
@@ -74,18 +132,23 @@ func _process(_delta: float) -> void:
 		if is_tracking:
 			print("[BodyTracker] Lost body tracking")
 			is_tracking = false
+			_hide_all_spheres()
 		return
 
 	if not tracker.get_has_tracking_data():
 		if is_tracking:
 			print("[BodyTracker] Body tracking data unavailable")
 			is_tracking = false
+			_hide_all_spheres()
 		return
 
 	if not is_tracking:
 		print("[BodyTracker] Body tracking active!")
 		is_tracking = true
 
+	# Update joint sphere positions
+	_update_joint_spheres(tracker)
+
 	# Read key joint poses
 	var chest_xform := tracker.get_joint_transform(JOINT_CHEST)
 	var head_xform := tracker.get_joint_transform(JOINT_HEAD)
@@ -180,6 +243,27 @@ func _get_hand_positions(tracker: XRBodyTracker, start_idx: int, wrist_xform: Tr
 	return positions
 
 
+func _update_joint_spheres(tracker: XRBodyTracker) -> void:
+	if _joint_spheres.is_empty() or _xr_origin == null:
+		return
+	var origin_xform := _xr_origin.global_transform
+	for i in range(BODY_JOINT_COUNT):
+		if _joint_spheres[i] == null:
+			continue
+		var xform := tracker.get_joint_transform(i)
+		if xform.origin == Vector3.ZERO:
+			_joint_spheres[i].visible = false
+			continue
+		_joint_spheres[i].global_position = origin_xform * xform.origin
+		_joint_spheres[i].visible = true
+
+
+func _hide_all_spheres() -> void:
+	for s in _joint_spheres:
+		if s != null:
+			s.visible = false
+
+
 ## Get 25 hand joint rotations relative to wrist, as flat array (225 floats)
 ## Each joint: 9 floats (3x3 rotation matrix, column-major)
 func _get_hand_rotations(tracker: XRBodyTracker, start_idx: int, wrist_xform: Transform3D) -> Array:

scripts/body_tracker.gd.uid

@@ -0,0 +1 @@
+uid://1xnuuli2itfk

scripts/start_screen.gd

@@ -0,0 +1,74 @@
+extends Node3D
+## VR start screen UI panel.
+## Renders a 2D UI in a SubViewport on a QuadMesh in VR space.
+## Allows user to enter server URL/port, connect, and launch AR mode.
+
+signal connect_requested(host: String, port: int)
+signal launch_ar_requested()
+
+@onready var ui_mesh: MeshInstance3D = $UIMesh
+@onready var viewport: SubViewport = $UIMesh/SubViewport
+@onready var host_input: LineEdit = $UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/ServerRow/HostInput
+@onready var port_input: LineEdit = $UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/PortRow/PortInput
+@onready var connect_button: Button = $UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/ConnectButton
+@onready var status_label: Label = $UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/StatusLabel
+@onready var launch_ar_button: Button = $UIMesh/SubViewport/PanelContainer/MarginContainer/VBox/LaunchARButton
+
+var _is_connected: bool = false
+
+
+func _ready() -> void:
+	add_to_group("start_screen")
+	connect_button.pressed.connect(_on_connect_pressed)
+	launch_ar_button.pressed.connect(_on_launch_ar_pressed)
+
+	# Set up the mesh material to display the SubViewport
+	var material := StandardMaterial3D.new()
+	material.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+	material.albedo_texture = viewport.get_texture()
+	material.transparency = BaseMaterial3D.TRANSPARENCY_DISABLED
+	ui_mesh.material_override = material
+
+	print("[StartScreen] Ready")
+
+
+func _on_connect_pressed() -> void:
+	var host := host_input.text.strip_edges()
+	if host.is_empty():
+		update_status("Please enter a server address")
+		return
+
+	var port := int(port_input.text.strip_edges())
+	if port <= 0 or port > 65535:
+		update_status("Invalid port number")
+		return
+
+	update_status("Connecting to %s:%d..." % [host, port])
+	connect_requested.emit(host, port)
+
+
+func _on_launch_ar_pressed() -> void:
+	launch_ar_requested.emit()
+
+
+func update_status(text: String) -> void:
+	status_label.text = text
+
+
+func set_connected(connected: bool) -> void:
+	_is_connected = connected
+	if connected:
+		update_status("Connected!")
+		connect_button.text = "Disconnect"
+	else:
+		if connect_button.text == "Disconnect":
+			update_status("Disconnected")
+		connect_button.text = "Connect to Server"
+
+
+func show_screen() -> void:
+	visible = true
+
+
+func hide_screen() -> void:
+	visible = false

scripts/start_screen.gd.uid

@@ -0,0 +1 @@
+uid://cd50pdphkb1do

scripts/teleop_client.gd.uid

@@ -0,0 +1 @@
+uid://cejwgl45w03x7

scripts/vr_ui_pointer.gd

@@ -0,0 +1,469 @@
+extends Node3D
+## VR UI pointer with hand tracking visualization, controller ray-pointing,
+## and finger poke interaction. Renders hand joints as spheres and shows
+## controller placeholder meshes.
+
+@export var ray_length: float = 5.0
+@export var poke_threshold: float = 0.03
+@export var hover_distance: float = 0.15
+@export var laser_color: Color = Color(0.3, 0.6, 1.0, 0.6)
+
+var _xr_origin: XROrigin3D
+var _camera: XRCamera3D
+var _left_ctrl: XRController3D
+var _right_ctrl: XRController3D
+
+var _laser_right: MeshInstance3D
+var _laser_left: MeshInstance3D
+var _reticle: MeshInstance3D
+
+# Hand joint visualization: _hand_joints[hand_idx][joint_idx] = MeshInstance3D
+var _hand_joints: Array = [[], []]
+var _ctrl_mesh_left: MeshInstance3D
+var _ctrl_mesh_right: MeshInstance3D
+
+var _current_viewport: SubViewport = null
+var _last_viewport_pos: Vector2 = Vector2.ZERO
+var _is_pressing: bool = false
+var _active_method: String = ""
+var _log_timer: float = 0.0
+
+const JOINT_COUNT := 26
+# Fingertip joint indices for XRHandTracker (thumb=5, index=10, middle=15, ring=20, pinky=25)
+const TIP_JOINTS := [5, 10, 15, 20, 25]
+const HAND_COLORS := [Color(0.3, 0.6, 1.0, 1.0), Color(0.3, 1.0, 0.6, 1.0)]
+
+# XRBodyTracker fallback: hand joint start indices and count
+const BODY_LEFT_HAND_START := 18
+const BODY_RIGHT_HAND_START := 43
+const BODY_HAND_JOINT_COUNT := 25
+# Fingertip indices within 25-joint body tracker hand block
+const BODY_TIP_JOINTS := [4, 9, 14, 19, 24]
+# Index finger tip within body tracker hand block (for poke interaction)
+const BODY_INDEX_TIP := 9
+
+
+func setup(xr_origin: XROrigin3D, camera: XRCamera3D, left_ctrl: XRController3D, right_ctrl: XRController3D) -> void:
+	_xr_origin = xr_origin
+	_camera = camera
+	_left_ctrl = left_ctrl
+	_right_ctrl = right_ctrl
+
+	_left_ctrl.button_pressed.connect(_on_left_button_pressed)
+	_left_ctrl.button_released.connect(_on_left_button_released)
+	_right_ctrl.button_pressed.connect(_on_right_button_pressed)
+	_right_ctrl.button_released.connect(_on_right_button_released)
+
+	# Create lasers (start hidden until controllers are active)
+	_laser_right = _create_laser()
+	_laser_right.visible = false
+	_right_ctrl.add_child(_laser_right)
+	_laser_left = _create_laser()
+	_laser_left.visible = false
+	_left_ctrl.add_child(_laser_left)
+
+	# Reticle dot where pointer intersects UI
+	_reticle = MeshInstance3D.new()
+	var sphere := SphereMesh.new()
+	sphere.radius = 0.01
+	sphere.height = 0.02
+	_reticle.mesh = sphere
+	var rmat := StandardMaterial3D.new()
+	rmat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+	rmat.albedo_color = Color(1, 1, 1, 0.9)
+	rmat.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
+	rmat.no_depth_test = true
+	rmat.render_priority = 10
+	_reticle.material_override = rmat
+	_reticle.visible = false
+	add_child(_reticle)
+
+	# Hand joint spheres
+	_create_hand_visuals()
+
+	# Controller placeholder meshes
+	_ctrl_mesh_left = _create_controller_mesh(_left_ctrl)
+	_ctrl_mesh_right = _create_controller_mesh(_right_ctrl)
+
+	print("[VRUIPointer] Setup complete")
+
+
+func _create_laser() -> MeshInstance3D:
+	var laser := MeshInstance3D.new()
+	var cyl := CylinderMesh.new()
+	cyl.top_radius = 0.002
+	cyl.bottom_radius = 0.002
+	cyl.height = ray_length
+	laser.mesh = cyl
+	laser.position = Vector3(0, 0, -ray_length / 2.0)
+	laser.rotation.x = deg_to_rad(90)
+	var mat := StandardMaterial3D.new()
+	mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+	mat.albedo_color = laser_color
+	mat.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
+	laser.material_override = mat
+	return laser
+
+
+func _create_hand_visuals() -> void:
+	# Shared meshes - larger for visibility in VR
+	var joint_mesh := SphereMesh.new()
+	joint_mesh.radius = 0.01
+	joint_mesh.height = 0.02
+	var tip_mesh := SphereMesh.new()
+	tip_mesh.radius = 0.013
+	tip_mesh.height = 0.026
+
+	for hand_idx in [0, 1]:
+		var mat := StandardMaterial3D.new()
+		mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+		mat.albedo_color = HAND_COLORS[hand_idx]
+
+		for joint_idx in range(JOINT_COUNT):
+			var s := MeshInstance3D.new()
+			s.mesh = tip_mesh if joint_idx in TIP_JOINTS else joint_mesh
+			s.material_override = mat
+			s.visible = false
+			add_child(s)
+			_hand_joints[hand_idx].append(s)
+
+
+func _create_controller_mesh(ctrl: XRController3D) -> MeshInstance3D:
+	var mesh_inst := MeshInstance3D.new()
+	var box := BoxMesh.new()
+	box.size = Vector3(0.05, 0.03, 0.12)
+	mesh_inst.mesh = box
+	var mat := StandardMaterial3D.new()
+	mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
+	mat.albedo_color = Color(0.5, 0.5, 0.6, 0.7)
+	mat.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
+	mesh_inst.material_override = mat
+	mesh_inst.visible = false
+	ctrl.add_child(mesh_inst)
+	return mesh_inst
+
+
+func _process(delta: float) -> void:
+	if _xr_origin == null:
+		return
+
+	# Debug logging every 5 seconds
+	_log_timer += delta
+	if _log_timer > 5.0:
+		_log_timer = 0.0
+		var l := _left_ctrl.get_is_active() if _left_ctrl else false
+		var r := _right_ctrl.get_is_active() if _right_ctrl else false
+		var panels := get_tree().get_nodes_in_group("start_screen").size()
+		print("[VRUIPointer] ctrl=L:%s/R:%s panels=%d" % [l, r, panels])
+		# List all XR trackers
+		var trackers := XRServer.get_trackers(0xFF)
+		var tracker_names := []
+		for key in trackers:
+			tracker_names.append(str(key))
+		print("[VRUIPointer] all_trackers=%s" % [", ".join(tracker_names)])
+		# Hand tracker diagnostics
+		for hand_idx in [0, 1]:
+			var side := "L" if hand_idx == 0 else "R"
+			var tn := &"/user/hand_tracker/left" if hand_idx == 0 else &"/user/hand_tracker/right"
+			var tr = XRServer.get_tracker(tn)
+			if tr == null:
+				print("[VRUIPointer] hand_%s: tracker=NULL" % side)
+			else:
+				var ht = tr as XRHandTracker
+				if ht:
+					var src = ht.hand_tracking_source
+					print("[VRUIPointer] hand_%s: has_data=%s source=%d type=%s" % [side, ht.has_tracking_data, src, ht.get_class()])
+					# Sample joint data even if has_data=false
+					var wrist := ht.get_hand_joint_transform(0)
+					var index_tip := ht.get_hand_joint_transform(10)
+					print("[VRUIPointer] hand_%s: wrist=%s idx_tip=%s" % [side, wrist.origin, index_tip.origin])
+				else:
+					print("[VRUIPointer] hand_%s: tracker exists but NOT XRHandTracker, class=%s" % [side, tr.get_class()])
+		# Body tracker diagnostics (fallback for hand data)
+		var bt = XRServer.get_tracker(&"/user/body_tracker") as XRBodyTracker
+		if bt == null:
+			print("[VRUIPointer] body_tracker=NULL")
+		else:
+			var bt_data := bt.get_has_tracking_data()
+			var vis_l := 0
+			var vis_r := 0
+			for s in _hand_joints[0]:
+				if s.visible:
+					vis_l += 1
+			for s in _hand_joints[1]:
+				if s.visible:
+					vis_r += 1
+			if bt_data:
+				var lw := bt.get_joint_transform(BODY_LEFT_HAND_START)
+				var rw := bt.get_joint_transform(BODY_RIGHT_HAND_START)
+				print("[VRUIPointer] body: has_data=true L_wrist=%s R_wrist=%s vis=L:%d/R:%d" % [lw.origin, rw.origin, vis_l, vis_r])
+			else:
+				print("[VRUIPointer] body: has_data=false vis=L:%d/R:%d" % [vis_l, vis_r])
+
+	# Update visuals every frame
+	_update_hand_visuals()
+
+	# Controller visibility and laser defaults
+	var l_active := _left_ctrl.get_is_active()
+	var r_active := _right_ctrl.get_is_active()
+	_ctrl_mesh_left.visible = l_active
+	_ctrl_mesh_right.visible = r_active
+	_laser_left.visible = l_active
+	_laser_right.visible = r_active
+	if l_active:
+		_reset_laser_length(_laser_left)
+	if r_active:
+		_reset_laser_length(_laser_right)
+
+	# UI interaction
+	var panels := _get_ui_panels()
+	if panels.is_empty():
+		_reticle.visible = false
+		return
+
+	var hit := false
+
+	# 1. Hand tracking poke (priority over controller ray)
+	for hand_idx in [0, 1]:
+		var tip_pos := _get_fingertip_world_position(hand_idx)
+		if tip_pos == Vector3.ZERO:
+			continue
+		for panel in panels:
+			var result := _check_point_against_panel(tip_pos, panel[0], panel[1])
+			if result.size() > 0 and abs(result[0]) < hover_distance:
+				hit = true
+				_reticle.global_position = result[2]
+				_reticle.visible = true
+				_current_viewport = panel[1]
+				_last_viewport_pos = result[1]
+				_send_mouse_motion(panel[1], result[1])
+
+				var method := "poke_%d" % hand_idx
+				if result[0] < poke_threshold and not _is_pressing:
+					_is_pressing = true
+					_active_method = method
+					_send_mouse_button(panel[1], result[1], true)
+				elif result[0] >= poke_threshold and _is_pressing and _active_method == method:
+					_is_pressing = false
+					_send_mouse_button(panel[1], result[1], false)
+				break
+		if hit:
+			break
+
+	# 2. Controller ray pointing
+	if not hit:
+		for ctrl_data in [[_right_ctrl, _laser_right, "ray_right"], [_left_ctrl, _laser_left, "ray_left"]]:
+			var ctrl: XRController3D = ctrl_data[0]
+			var laser: MeshInstance3D = ctrl_data[1]
+			var method: String = ctrl_data[2]
+			if not ctrl.get_is_active():
+				continue
+			var ray_origin := ctrl.global_position
+			var ray_dir := -ctrl.global_transform.basis.z.normalized()
+
+			for panel in panels:
+				var result := _ray_intersect_panel(ray_origin, ray_dir, panel[0], panel[1])
+				if result.size() > 0:
+					hit = true
+					_reticle.global_position = result[2]
+					_reticle.visible = true
+					_current_viewport = panel[1]
+					_last_viewport_pos = result[1]
+					_send_mouse_motion(panel[1], result[1])
+					var dist := ray_origin.distance_to(result[2])
+					_update_laser_length(laser, dist)
+					break
+			if hit:
+				break
+
+	if not hit:
+		_reticle.visible = false
+		if _is_pressing:
+			_is_pressing = false
+			if _current_viewport:
+				_send_mouse_button(_current_viewport, _last_viewport_pos, false)
+		_current_viewport = null
+
+
+func _has_hand_tracking(hand: int) -> bool:
+	var tracker_name := &"/user/hand_tracker/left" if hand == 0 else &"/user/hand_tracker/right"
+	var tracker = XRServer.get_tracker(tracker_name) as XRHandTracker
+	return tracker != null and tracker.has_tracking_data
+
+
+func _update_hand_visuals() -> void:
+	for hand_idx in [0, 1]:
+		# Try XRHandTracker first (works with controllers)
+		var tracker_name := &"/user/hand_tracker/left" if hand_idx == 0 else &"/user/hand_tracker/right"
+		var tracker = XRServer.get_tracker(tracker_name)
+		var hand_tracker: XRHandTracker = tracker as XRHandTracker if tracker else null
+
+		if hand_tracker and hand_tracker.has_tracking_data:
+			for joint_idx in range(JOINT_COUNT):
+				var xform := hand_tracker.get_hand_joint_transform(joint_idx)
+				if xform.origin == Vector3.ZERO:
+					_hand_joints[hand_idx][joint_idx].visible = false
+					continue
+				var world_pos := _xr_origin.global_transform * xform.origin
+				_hand_joints[hand_idx][joint_idx].global_position = world_pos
+				_hand_joints[hand_idx][joint_idx].visible = true
+			continue
+
+		# Fallback: XRBodyTracker (Meta FB body tracking, works without controllers)
+		var body_tracker = XRServer.get_tracker(&"/user/body_tracker") as XRBodyTracker
+		if body_tracker and body_tracker.get_has_tracking_data():
+			var start_idx := BODY_LEFT_HAND_START if hand_idx == 0 else BODY_RIGHT_HAND_START
+			for i in range(BODY_HAND_JOINT_COUNT):
+				var xform := body_tracker.get_joint_transform(start_idx + i)
+				if xform.origin == Vector3.ZERO:
+					if i < JOINT_COUNT:
+						_hand_joints[hand_idx][i].visible = false
+					continue
+				var world_pos := _xr_origin.global_transform * xform.origin
+				if i < JOINT_COUNT:
+					_hand_joints[hand_idx][i].global_position = world_pos
+					_hand_joints[hand_idx][i].visible = true
+			# Hide the 26th sphere (body tracker has 25 joints, not 26)
+			_hand_joints[hand_idx][25].visible = false
+			continue
+
+		# No tracking data from either source
+		for s in _hand_joints[hand_idx]:
+			s.visible = false
+
+
+func _update_laser_length(laser: MeshInstance3D, length: float) -> void:
+	var cyl := laser.mesh as CylinderMesh
+	if cyl:
+		cyl.height = length
+	laser.position = Vector3(0, 0, -length / 2.0)
+
+
+func _reset_laser_length(laser: MeshInstance3D) -> void:
+	var cyl := laser.mesh as CylinderMesh
+	if cyl:
+		cyl.height = ray_length
+	laser.position = Vector3(0, 0, -ray_length / 2.0)
+
+
+func _get_fingertip_world_position(hand: int) -> Vector3:
+	# Try XRHandTracker first
+	var tracker_name := &"/user/hand_tracker/left" if hand == 0 else &"/user/hand_tracker/right"
+	var tracker = XRServer.get_tracker(tracker_name)
+	if tracker:
+		var hand_tracker := tracker as XRHandTracker
+		if hand_tracker and hand_tracker.has_tracking_data:
+			var tip_xform := hand_tracker.get_hand_joint_transform(XRHandTracker.HAND_JOINT_INDEX_FINGER_TIP)
+			if tip_xform.origin != Vector3.ZERO:
+				return _xr_origin.global_transform * tip_xform.origin
+
+	# Fallback: XRBodyTracker
+	var body_tracker = XRServer.get_tracker(&"/user/body_tracker") as XRBodyTracker
+	if body_tracker and body_tracker.get_has_tracking_data():
+		var start_idx := BODY_LEFT_HAND_START if hand == 0 else BODY_RIGHT_HAND_START
+		var tip_xform := body_tracker.get_joint_transform(start_idx + BODY_INDEX_TIP)
+		if tip_xform.origin != Vector3.ZERO:
+			return _xr_origin.global_transform * tip_xform.origin
+
+	return Vector3.ZERO
+
+
+func _get_ui_panels() -> Array:
+	var results := []
+	for screen in get_tree().get_nodes_in_group("start_screen"):
+		if not screen.visible:
+			continue
+		var ui_mesh: MeshInstance3D = screen.get_node_or_null("UIMesh")
+		var vp: SubViewport = screen.get_node_or_null("UIMesh/SubViewport")
+		if ui_mesh and vp:
+			results.append([ui_mesh, vp])
+	return results
+
+
+func _check_point_against_panel(point: Vector3, mesh: MeshInstance3D, vp: SubViewport) -> Array:
+	var mx := mesh.global_transform
+	var normal := mx.basis.z.normalized()
+	var signed_dist := normal.dot(point - mx.origin)
+	var projected := point - normal * signed_dist
+	var local_hit := mx.affine_inverse() * projected
+	var qm := mesh.mesh as QuadMesh
+	if qm == null:
+		return []
+	var qs := qm.size
+	if abs(local_hit.x) > qs.x / 2.0 or abs(local_hit.y) > qs.y / 2.0:
+		return []
+	var u := (local_hit.x / qs.x) + 0.5
+	var v := 0.5 - (local_hit.y / qs.y)
+	return [signed_dist, Vector2(u * vp.size.x, v * vp.size.y), projected]
+
+
+func _ray_intersect_panel(ray_origin: Vector3, ray_dir: Vector3, mesh: MeshInstance3D, vp: SubViewport) -> Array:
+	var mx := mesh.global_transform
+	var normal := mx.basis.z.normalized()
+	var denom := normal.dot(ray_dir)
+	if abs(denom) < 0.0001:
+		return []
+	var t := normal.dot(mx.origin - ray_origin) / denom
+	if t < 0 or t > ray_length:
+		return []
+	var hit := ray_origin + ray_dir * t
+	var local_hit := mx.affine_inverse() * hit
+	var qm := mesh.mesh as QuadMesh
+	if qm == null:
+		return []
+	var qs := qm.size
+	if abs(local_hit.x) > qs.x / 2.0 or abs(local_hit.y) > qs.y / 2.0:
+		return []
+	var u := (local_hit.x / qs.x) + 0.5
+	var v := 0.5 - (local_hit.y / qs.y)
+	return [0.0, Vector2(u * vp.size.x, v * vp.size.y), hit]
+
+
+func _on_right_button_pressed(button_name: String) -> void:
+	if button_name in ["trigger_click", "ax_button", "primary_click"]:
+		if _current_viewport and not _is_pressing:
+			_is_pressing = true
+			_active_method = "ray_right"
+			_send_mouse_button(_current_viewport, _last_viewport_pos, true)
+
+
+func _on_right_button_released(button_name: String) -> void:
+	if button_name in ["trigger_click", "ax_button", "primary_click"]:
+		if _is_pressing and _active_method == "ray_right":
+			_is_pressing = false
+			if _current_viewport:
+				_send_mouse_button(_current_viewport, _last_viewport_pos, false)
+
+
+func _on_left_button_pressed(button_name: String) -> void:
+	if button_name in ["trigger_click", "ax_button", "primary_click"]:
+		if _current_viewport and not _is_pressing:
+			_is_pressing = true
+			_active_method = "ray_left"
+			_send_mouse_button(_current_viewport, _last_viewport_pos, true)
+
+
+func _on_left_button_released(button_name: String) -> void:
+	if button_name in ["trigger_click", "ax_button", "primary_click"]:
+		if _is_pressing and _active_method == "ray_left":
+			_is_pressing = false
+			if _current_viewport:
+				_send_mouse_button(_current_viewport, _last_viewport_pos, false)
+
+
+func _send_mouse_motion(vp: SubViewport, pos: Vector2) -> void:
+	var event := InputEventMouseMotion.new()
+	event.position = pos
+	event.global_position = pos
+	vp.push_input(event)
+
+
+func _send_mouse_button(vp: SubViewport, pos: Vector2, pressed: bool) -> void:
+	var event := InputEventMouseButton.new()
+	event.position = pos
+	event.global_position = pos
+	event.button_index = MOUSE_BUTTON_LEFT
+	event.pressed = pressed
+	if pressed:
+		event.button_mask = MOUSE_BUTTON_MASK_LEFT
+	vp.push_input(event)

scripts/vr_ui_pointer.gd.uid

@@ -0,0 +1 @@
+uid://c7w0y2lapybff

scripts/webcam_display.gd.uid

@@ -0,0 +1 @@
+uid://df6sw3ko66dyi