g1-teleop/SETUP.md

G1 Teleop — Quest 3 Native App Setup

Prerequisites

• Godot 4.3+ (download from https://godotengine.org)
• Android SDK + NDK (install via Android Studio or standalone)
• Meta Quest Developer Hub (for sideloading) or adb
• Quest 3 in developer mode

Step 1: Install Meta OpenXR Vendors Plugin

1. Open project in Godot: godot --editor --path C:\git\g1-teleop
2. Go to AssetLib tab (top center)
3. Search for "Godot OpenXR Vendors"
4. Download and install (includes Meta Quest support)
5. Enable the plugin: Project → Project Settings → Plugins → godotopenxrvendors → Enable
6. Restart Godot when prompted

Step 2: Configure Android Export

1. Go to Editor → Editor Settings → Export → Android
2. Set the path to your Android SDK
3. Set Java SDK path
4. Go to Project → Export → Quest 3
5. Download Android export templates if prompted (Editor → Manage Export Templates → Download)

Step 3: Enable Body Tracking

Body tracking is configured via:

• export_presets.cfg: xr_features/hand_tracking=2 (required)
• android/AndroidManifest.xml: body tracking features and metadata

The Meta OpenXR Vendors plugin v4.1.1+ exposes XRBodyTracker in GDScript.

Step 4: Build and Sideload

1. Connect Quest 3 via USB (or Wi-Fi ADB)
2. In Godot: Project → Export → Quest 3 → Export Project (or one-click deploy)
3. APK will be at build/g1-teleop.apk
4. Sideload: adb install build/g1-teleop.apk

Step 5: Robot Server

On the robot (or dev machine for testing):

cd server/
pip install -r requirements.txt
python teleop_server.py --port 8765

Step 6: Configure App

Edit scripts/teleop_client.gd to set the robot's IP:

@export var server_host: String = "10.0.0.64"  # Robot IP
@export var server_port: int = 8765

Or configure at runtime via the Godot editor's export properties.

Network

• Quest 3 and robot must be on the same network
• No SSL required (raw WebSocket)
• Default port: 8765
• Firewall: allow TCP 8765 on the robot

Troubleshooting

Body tracking not activating

• Ensure Quest 3 system software is up to date
• Check Settings → Movement Tracking → Body Tracking is enabled
• Ensure the Meta OpenXR Vendors plugin version is ≥ 4.1.1

WebSocket connection fails

• Verify robot IP is correct and reachable: ping 10.0.0.64
• Check server is running: ss -tlnp | grep 8765
• Check firewall: sudo ufw allow 8765/tcp