Humanoid Teleoperation

Unity/C# repository for Humanoid Teleoperation

Setup

Before running the project, you need to set up the Humanoid Server repository:

1. Copy the .env.example file to create your own .env file
2. Edit the .env file and replace the placeholder URL with your WebSocket server's address:

   URL=ws://your.ip.address:3000
   

   Replace your.ip.address with your computer's IP address (e.g., 192.168.1.100). You can find your IP address using:
   • Windows: ipconfig | findstr /i "IPv4" in Command Prompt
   • macOS/Linux: ifconfig | grep 'broadcast' | awk '{print $2}' in Terminal
3. Make sure your Quest headset and development machine are on the same network
4. The .env file should be in the project root directory (same level as the Assets folder)

If the local IP address doesn't work

If your Quest cannot reach your machine via local IP (e.g. due to network restrictions or firewall rules), you can use ngrok to expose your local server via a public URL:

1. Install ngrok and authenticate with your account token
2. Run the following command to forward your local WebSocket server:

   ngrok tcp 3000

3. ngrok will output a public URL like tcp://0.tcp.ngrok.io:12345. Update your .env file to use it:

   URL=ws://0.tcp.ngrok.io:12345

4. Restart the server and reconnect your Quest — no need to be on the same network

Unity 2022.3.24f1

Unity is the editor that we use to create 3D/XR applications. We will be using it as our engine for the project.

1. Download the Unity Hub, then use it to install Editor version 2022.3.24f1.
2. Create a Unity account to go along with your install
3. Clone the repository.
4. Open Unity Hub, choose "Add" and select the cloned folder. This will add the project to your Unity Hub, where you can then launch the project.

Oculus PC App

If you want to run the project on a Quest headset to test its functionality, you will need to install the Oculus PC App. Note that this only supports Windows PCs. To connect your Quest headset to your PC, you can use a Link Cable (requires USB3.0 port on your computer) or Air Link (requires strong Wifi connection that Quest can independently connect to: eduroam is not compatible). Once connected to your PC, launch Link Mode on your Quest if it's not automatically started. In Unity, ensure Oculus is added to the list of active loaders (Edit > Project Settings > Meta XR). Then, you can simply start Play Mode and the app will be displayed to the Quest headset.