Get the handle position

[zplusy]

Hello, I would like to ask if the obtained handle position is relative to the helmet point? Can I get the absolute position of the handle without changing with the movement of the view? At the same time, I would like to know if the running program can see through the surrounding environment?

[jborbik]

Yes, the handle position is relative to the helmet's frame. All what you are asking about can be done by changing the APK. Instructions: https://github.com/rail-berkeley/oculus_reader/blob/main/app_source/README.md
Regarding first request: this is easy, you just need to skip this multiplication:

oculus_reader/app_source/Src/OculusTeleop.cpp

Line 1245 in c52b4b6

OVR::Matrix4f::Multiply(&handPoseMatrixHeadCoord,

Second request is more involved but doable. For inspiration have a look at example projects from the Oculus SDK and integrate the changes in the APK source code as needed.

Good luck!

[zplusy]

Hello, may I ask why clicking on 'generate apks' doesn't have any response when building apk files according to your method, and when selecting the Gradle version, he recommended me to choose 8.10.  Can you provide more detailed instructions for apk generation？thank you！ 发自我的iPhone

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------------------ Original ------------------ From: Jędrzej Orbik ***@***.***> Date: Sun,May 4,2025 7:07 PM To: rail-berkeley/oculus_reader ***@***.***> Cc: zhoujiayu ***@***.***>, Author ***@***.***> Subject: Re: [rail-berkeley/oculus_reader] Get the handle position (Issue #13) Jendker left a comment (rail-berkeley/oculus_reader#13) All what you are asking about can be done by changing the APK. Instructions: https://github.com/rail-berkeley/oculus_reader/blob/main/app_source/README.md Regarding first request: this is easy, you just need to skip this multiplication: https://github.com/rail-berkeley/oculus_reader/blob/c52b4b6193879b6cf32a1db1bd5727652626f00d/app_source/Src/OculusTeleop.cpp#L1245 Second request is more involved but doable. For inspiration have a look at example projects from the Oculus SDK and integrate the changes in the APK source code as needed. Good luck! — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: ***@***.***>

[jborbik]

Hi, in this case it's best if you wait for the new code with the latest APK I am working on. Should land within next couple weeks.

[ZhefeiGong]

@jborbik

Hi Jędrzej,

First of all, thank you for your excellent work — I’ve been using oculus_reader to teleoperate a TIAGO++ robot via the Quest 3, and it’s working quite well for me so far.

That said, I’ve encountered a few issues related to the APK and was hoping to get some clarification:

1. When teleoperating, the VR display looks like the following image. I’m wondering what exactly the “Enable Standard Pointers” option does here — particularly, what the “Standard Pointers” are meant to represent. Any insights would be appreciated!

2. The current view tends to obscure the operation a bit, which could potentially impact safety. I’m wondering if there’s a way to adjust the virtual view to make the surroundings more visible. I saw that you might be working on this — really looking forward to any updates!

3. Would it be possible to integrate a video stream from another device (e.g. a remote camera) into the interface? That could greatly improve remote teleoperation capabilities.

Thanks again for your continued efforts — really impressive work!

[jborbik]

Hi @ZhefeiGong

To answer your questions:

1. This visualization doesn't serve any specific purpose so you can operate the oculus_reader with the headset off. What you want to do is start the application by following the steps in the README and operate the controllers in the field of view of the headset.
2. As above, operate with the headset off. I am not working at any visualization updates at the moment as I don't have access to the hardware.
3. That would be a great extension to the app! You may want to hold off with any code changes until the new revision with Oculus Quest 3 lands: Support Oculus Quest 3 #5

Hope this helps!