<XR />

<XR /> brings the visualizer into a headset. It adds an AR button that starts an immersive WebXR session (on a device such as a Meta Quest) and an AR settings panel for configuring it. Inside the session the scene is pinned to a real-world origin so the machine appears at a fixed spot in the room; depending on the mode you can teleoperate arms with the controllers or reposition frames in space, with optional floating camera feeds and joint-limit readouts.

A WebXR-capable device and browser are required — on a regular desktop browser the button is present but can’t start a session.

Usage

Mount <XR /> inside <Visualizer />:

<script lang="ts">
	import { Visualizer } from '@viamrobotics/motion-tools'
	import { XR } from '@viamrobotics/motion-tools/plugins'
</script>

<div class="h-screen w-screen">
	<Visualizer>
		<XR />
	</Visualizer>
</div>

Enabling and configuring

<XR /> adds an AR section to the visualizer’s settings panel. From there you:

1. Enable VR / AR mode — turns on the session button.
2. Choose cameras — pick which of the machine’s cameras appear as floating feeds in the headset.
3. Assign arms and grippers to the left and right controllers, and set per-controller motion scale and rotation behavior.

The active interaction mode determines what the controllers do in-session:

• arm-teleop — drive the assigned arms with the controllers.
• frame-configure — grab and reposition frames in the scene.

Put the headset on, open the machine’s page, and tap AR to enter. Exiting the session resets the scene origin.

Props

<XR /> forwards any extra props to the underlying @threlte/xr <XRButton />, so you can pass through attributes to style or label the session button.

Dependencies

• External packages: @threlte/xr and @viamrobotics/svelte-sdk — both required peers of @viamrobotics/motion-tools, installed alongside it.
• Plugins: none. Camera feeds, controller arm/gripper assignments, and other session options are all configured in the plugin’s own AR settings panel. See Plugin dependencies.
• Runtime: a WebXR-capable device to enter a session, and a live machine connection for teleoperation (the assigned arms and grippers).