Prototype

OhhO Pilot

Put on an OpenXR mixed-reality headset, see your real room through passthrough, pick any robot from your OhhO garage — a mecanum mobile manipulator, a quadrotor drone, an underwater ROV, a dual-arm humanoid — and teleoperate it with controls appropriate to that robot. Hand-tracking arm IK, WebRTC telepresence video, per-robot calibration, and a catalog-driven spatial add-robot flow that mirrors the website. One shared OhhO account across web, Android and VR.

Operate any robot. From anywhere. In mixed reality.

Open the cockpit

OhhO Pilot is the mixed-reality teleoperation cockpit. Put on an OpenXR mixed-reality headset and your real room is the background — passthrough MR means no vection and minimal sim-sickness, even during fast base driving. Floating glass panels show your robot's camera feed, telemetry and HUD, all themed to match the OhhO website.

Pilot is catalog-driven: the robot list, capability model and branding all mirror the OhhO website through one shared Supabase account. Pick a robot from your garage — or add a new one in-headset with the spatial categories → types → models → name flow — and Pilot builds a RobotProfile from the catalog entry (drive kind, arm DOF, joint limits, ROS topics, max velocities). A control-scheme factory picks the right drive scheme (mecanum, differential, Ackermann, aerial mode-2 RC, thruster vectoring) and manipulation scheme (6-DOF hand-IK, dual-arm FABRIK, gripper-only, or robot-side MoveIt Servo) for that robot automatically.

Every robot category gets a correct, distinct control mapping. A drone uses mode-2 RC sticks (left = throttle + yaw, right = translate). An underwater ROV gets surge/sway/heave/yaw. A humanoid drives two arms with two hands via independent FABRIK IK chains. A mecanum mobile manipulator gets analytic arm IK + mecanum strafe. Safety is non-negotiable: deadman grip to drive, both-grips e-stop, velocity/joint clamping from the profile, and a connection-loss watchdog that auto-stops.

Mixed-reality passthrough. Always-on headset passthrough as the scene background. Frosted-glass panels float in your real room — see the robot and your surroundings simultaneously. Spatial anchors pin the virtual arm workspace to a real surface so it stays put as you walk.
Catalog-driven, any robot. The robot list, capability model and branding mirror the OhhO website through one shared Supabase account. A drone, an industrial arm, a quadruped and a mobile manipulator each get a correct, distinct control scheme — automatically, from the catalog profile. Add robots in-headset or on the website; they appear everywhere.
Hand-tracking arm IK. The headset reports a 6-DOF wrist pose; Pilot retargets it to the arm's end-effector and solves IK in real time. Analytic IK for the reference 6-DOF arm, generic FABRIK for arbitrary chains, dual-arm FABRIK for humanoids. Pinch drives the gripper. Optionally stream the Cartesian target to MoveIt 2 Servo on the robot for collision-aware solving.
WebRTC telepresence video. Sub-100 ms live video via WebRTC when available, with automatic MJPEG fallback per-camera. The camera list comes from the robot's profile — a drone shows FPV + down cameras, a mobile manipulator shows front + wrist + BEV, all automatically.
Per-robot calibration + quick-resume. Each robot gets its own calibration (arm base height, workspace scale, velocity caps, IK location) persisted in the headset. The last-driven robot is saved for one-tap quick-resume on the next session. First-run onboarding shows control hints for the selected robot.
Profile-driven demo recording. Record imitation-learning demonstrations at 30 Hz in LeRobot-compatible JSONL. The recorder reads ROS topics and state/action dimensions from the robot's profile, so a drone records base-only obs/actions, a humanoid records dual-arm + base, and an industrial arm records arm-only — all correctly, automatically.

Open the cockpit Free and open source