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435 integrate meta#437

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Jelmerdw merged 19 commits intomainfrom
435-integrate-meta
Apr 30, 2026
Merged

435 integrate meta#437
Jelmerdw merged 19 commits intomainfrom
435-integrate-meta

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@Jelmerdw Jelmerdw commented Apr 7, 2026 •
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Description

This PR integrates the Meta Quest 3 in our software stack. The following changes were made:

  • The new alliander_meta package was introduced
  • The MoveIt servo command type is no longer set in the MoveIt launch file.
  • Instead, the MoveIt servo command type can no be set using the Joystick (TWIST) and Meta (POSE).
  • The move group arm_and_tcp was added, so that we now plan the TCP path.
  • A documentation page about input devices was added, with documentation about how to use the Quest.
  • The devcontainer was changed to support visual tools, so that debug tools like plot juggler can now be run from the devcontainer.

Fixes: #435

Testing

  • CICD approves
  • Franka + Meta is working
  • Franka + Joystick is still working
  • Franka + GUI is still working
  • Panther + Joystick is still working
  • Tested on real arm with my laptop.

Documentation

  • I have updated the documentation (if necessary)

Jelmerdw added 16 commits April 2, 2026 11:46
@Jelmerdw
Add Meta platform to our system.
10c3fb3 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
First teleoperation.
0bdda37 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Rewrite teleoperation python node to CPP meta manager node.
934f21d 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Use meta as flag, not as platform.
dbf8d72 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add support for GUI debugging using dev container.
7aea977 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Tune servo params.
4500304 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Switch to meta_quest_reader package.
fd1f444 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Switch to ppadb-reborn that includes fixes for escape sequences.
4c221a8 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add scrcpy to stream quest.
cc56ee5 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Start other containers only when meta launches correctly.
2d89d95 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Fix linting.
0e6f830 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Merge branch 'main' into 435-integrate-meta
d965c6f 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Fix configuration, to support Meta, Joystick and GUI.
4aaef59 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Set servo command type from joystick manager and meta manager.
f6dced6 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add documentation.
94d3e53 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Undo scale changes in servo params.
3bb6783 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw Jelmerdw marked this pull request as ready for review April 24, 2026 07:07
@Jelmerdw Jelmerdw requested review from geurto and rosalievanark and removed request for geurto April 24, 2026 07:07
rosalievanark
rosalievanark reviewed Apr 29, 2026
View reviewed changes
Comment thread docs/content/input_devices.md Outdated
ID XXXX:YYYY Oculus VR, Inc. Quest 3
```

Where `XXXX` and `YYYY` are four numbers. Next, create an udev rule for the Quest, by adding the following line to `/etc/udev/rules.d/51-android.rules`:
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@rosalievanark rosalievanark Apr 29, 2026

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For me the rules file did not exist yet so I had to execute the following lines first:

sudo nano /etc/udev/rules.d/51-android.rules
sudo chmod a+r /etc/udev/rules.d/51-android.rules
sudo udevadm control --reload-rules
sudo udevadm trigger

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@Jelmerdw Jelmerdw Apr 30, 2026

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I added some extra information about reload of the rules and the possibility that the file does not exist yet.

Jelmerdw and others added 3 commits April 30, 2026 09:51
@Jelmerdw
Apply feedback.
45962b2 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Merge branch 'main' into 435-integrate-meta
d3b5afa
@Jelmerdw
Merge branch 'main' into 435-integrate-meta
ee80c53 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw Jelmerdw merged commit a1415b7 into main Apr 30, 2026
41 checks passed
@Jelmerdw Jelmerdw deleted the 435-integrate-meta branch April 30, 2026 11:35
geurto pushed a commit that referenced this pull request Apr 30, 2026
@Jelmerdw @geurto
435 integrate meta (#437)
280f663 
* Add Meta platform to our system.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* First teleoperation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Rewrite teleoperation python node to CPP meta manager node.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Use meta as flag, not as platform.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add support for GUI debugging using dev container.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Tune servo params.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Switch to meta_quest_reader package.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Switch to ppadb-reborn that includes fixes for escape sequences.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add scrcpy to stream quest.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Start other containers only when meta launches correctly.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix linting.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix configuration, to support Meta, Joystick and GUI.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Set servo command type from joystick manager and meta manager.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add documentation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Undo scale changes in servo params.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Apply feedback.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

---------

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
geurto pushed a commit that referenced this pull request Apr 30, 2026
@Jelmerdw @geurto
435 integrate meta (#437)
2f99fce 
* Add Meta platform to our system.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* First teleoperation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Rewrite teleoperation python node to CPP meta manager node.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Use meta as flag, not as platform.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add support for GUI debugging using dev container.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Tune servo params.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Switch to meta_quest_reader package.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Switch to ppadb-reborn that includes fixes for escape sequences.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add scrcpy to stream quest.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Start other containers only when meta launches correctly.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix linting.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix configuration, to support Meta, Joystick and GUI.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Set servo command type from joystick manager and meta manager.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add documentation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Undo scale changes in servo params.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Apply feedback.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

---------

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
geurto pushed a commit that referenced this pull request Apr 30, 2026
@Jelmerdw @geurto
435 integrate meta (#437)
be8a5a2 
* Add Meta platform to our system.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* First teleoperation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Rewrite teleoperation python node to CPP meta manager node.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Use meta as flag, not as platform.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add support for GUI debugging using dev container.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Tune servo params.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Switch to meta_quest_reader package.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Switch to ppadb-reborn that includes fixes for escape sequences.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add scrcpy to stream quest.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Start other containers only when meta launches correctly.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix linting.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix configuration, to support Meta, Joystick and GUI.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Set servo command type from joystick manager and meta manager.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add documentation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Undo scale changes in servo params.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Apply feedback.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

---------

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
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[Meta] Integrate and connect with MoveIt.

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@Jelmerdw @rosalievanark