Meta Quest 3 VR Teleop Specifications

System Overview

UDP Packet Schema

Each packet is a fixed-length 45-byte binary message. All multi-byte fields use little-endian byte order. Unknown bytes appended at the end are ignored by the receiver for forward compatibility.

Byte offset summary: header 0–3, timestamp 4–11, pos_x 12–15, pos_y 16–19, pos_z 20–23, rot_x 24–27, rot_y 28–31, rot_z 32–35, rot_w 36–39, gripper 40–43, flags 44.

Python struct format string for unpacking:

import struct

PACKET_MAGIC = b'\x52\x43\x54\x50'  # "RCTP"
PACKET_FMT   = '<4sdfffffffff f B'
#              ^  ^ ^^^^^^^^^^ ^ ^
#              |  | pos xyz    | flags (uint8)
#              |  timestamp   gripper (float32)
#              header (4 bytes)   rot xyzw (float32×4)

def parse_packet(data: bytes) -> dict | None:
    if len(data) < struct.calcsize(PACKET_FMT):
        return None
    fields = struct.unpack_from(PACKET_FMT, data)
    header, ts, px, py, pz, rx, ry, rz, rw, gripper, flags = fields
    if header != PACKET_MAGIC:
        return None
    return {
        "timestamp": ts,
        "position": (px, py, pz),
        "rotation": (rx, ry, rz, rw),
        "gripper":  gripper,
        "valid":    bool(flags & 0x01),
        "estop":    bool(flags & 0x02),
    }

End-to-End Latency

Measured on a Wi-Fi 6 LAN with the AgileX Piper arm at 30 Hz control rate and 25% speed limit. Values are typical; actual latency depends on Wi-Fi conditions and robot servo rate.

Key Tunable Parameters

Compatible Arms at SVRC

Software Requirements