> For the complete documentation index, see [llms.txt](https://docs-origin.anvil.bot/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-origin.anvil.bot/products/quest-teleop-kit.md).

# Quest Teleop Kit

### Overview

Initially we were excited about leader-follower due to the potential for force feedback, which theoretically lets the operator feel forces and respond in kind. However, we soon found this to be an ergonomic nightmare.  

* Restricted field of view - the operator is forced to look at the task scene from a 45° angle without the ability to move or adjust field of view.
* Exhaustion - the leader arms are heavy, meaning the operator is constantly moving a pile of metal to do very light tasks. Plus the thumb and index finger are pushing against the gearbox of the leader handle. Even with gravity compensation on this is quickly exhausting.
* Kinematic mismatch - the operator is always craning over to hug the leader to better control it, but due to the mismatch in human and robot kinematics people can do this at best for an hour. Arm bands were developed to help with some motions, but that made starting and stopping episodes and resetting the scene extremely painful.  

This is why Anvil started investing in the Quest platform. Quest is affordable and easily accessible globally, making it an ideal platform for the open source robotics community. Anvil implemented a headless pose-streaming APK, capable of streaming **180 poses per second** from 2 controllers.

After more than a hundred hours logged in teleoperation and device testing, we recommend a setup utilizing the Meta Quest.

* We added an additional 30W power delivery adapter for the Quest data cable to keep the headset charged for long data collection shifts.
* We opted for a wired USB bridge to the Anvil Devbox giving us ADB controls and instrumentation, which makes development, monitoring, and automation easier.
* We also implemented TCP communication over the USB-ADB bridge, which lets us stream controller poses at 90Hz per controller with negligible jitter and latency, bypassing the local network.

### Media

<div><figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FPi3jSgIiENKNUkT0fVDr%2Fimage.png?alt=media&amp;token=88f14e13-2551-4288-81dd-3e42504b48b3" alt=""><figcaption></figcaption></figure> <figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FHkfYqQzyOt4XuhKtGfow%2Fimage.png?alt=media&amp;token=c1e20eba-dec4-48bd-abbf-f68a2f74e48d" alt=""><figcaption></figcaption></figure></div>

### Packing List

Details available at the links below:

* [Quest 3S Teleop Kit](https://shop.anvil.bot/products/quest-3s-teleop-kit)
* [OpenARM Quest Teleop Kit](https://shop.anvil.bot/products/openarm-quest-teleop-kit)
* [OpenYAM Quest Teleop Kit](https://shop.anvil.bot/products/openyam-quest-teleop-kit)

### Related Guides

* [Controlling the Robot](/user-guides/controlling-the-robots.md)
* [Collecting Data](/user-guides/collecting-data.md)

### Technical Specs

| Headset Version                | Quest 3S                       |
| ------------------------------ | ------------------------------ |
| Headset Battery Life           | Infinite (plugged in)          |
| Controller Battery Life        | 8-15 hours                     |
| Headset to Devbox Connection   | USB (with TCP over ADB bridge) |
| Controller to Quest Connection | Bluetooth                      |
| Controller Range               | 15 feet                        |
| Pose Frequency                 | 90Hz per controller            |
| Weight (full kit)              | 1.4kg                          |

### Resources

APK access is provided for customers of the Anvil Devbox and Quest Teleop Kit.  If your Quest did not come with the APK pre-installed, please contact <support@anvil.bot> with your order number.