> 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/user-guides/controlling-the-robots.md).

# Controlling the Robots

Use Anvil's precise and intuitive control methods to do real work with your robots

## Meta Quest

Anvil's advanced IK engine allows you to achieve smooth and easy robot control using the Meta Quest.\
\
Anvil's Quest teleop experience is zero-touch. You **don't need to look into the headset at any point** in the process. Start up the stack, hang the headset around your neck (for optimal controller tracking), and follow the instructions below to control your robot. This is a super ergonomic approach, that allows you to stay in the moment and keep eyes on your robots as you complete tasks.

### Reference image

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FcYVEDGEe5hy8wLBMDSWc%2Fpro_controller.png?alt=media&amp;token=12f05e7b-f008-41ce-bd57-fdc87c6385de" alt=""><figcaption></figcaption></figure>

### Grip buttons

The grip buttons (aka the "clutch"), located on the inside of each controller, let you control when the robot responds to your movements. While held, the robot mirrors your motion; release them, and you can freely reposition the controller without triggering any response from the robot.

These are labeled 4 in the reference image.

### Trigger buttons

The trigger buttons control the grippers, press them down to close the grippers, release them to open.

These are labeled 1 in the reference image.

### A/B buttons

To make data collection easy, the A button will start recording of a new episode and the B button will stop recording. Check out [Collecting Data](/user-guides/collecting-data.md) for more info on data collection.

### Y button

One press of the Y button will initiate a "rehoming" sequence, which moves the robot back to its home position.

### Vibration

If something is affecting the fidelity of a controller's pose tracking (occlusion, battery, etc), the robot will stop tracking movement and the controller will vibrate to indicate the degraded tracking to the user. Make sure the controller is charged and its cameras aren't occluded, and you can get back to controlling your robot.

## Leader-Follower

When using this control paradigm, Anvil's control stack maps joint states directly from leader arms to follower arms, facilitating ultra-responsive movement. Control is simple, move the leaders and the followers mimic the movement exactly.

## Next Steps

Learn more about using the Quest with our [Quest Teleop Tips and Tricks](/user-guides/quest-teleop-tips-and-tricks.md) or skip straight to [Collecting Data](/user-guides/collecting-data.md).