Teleoperation of Baxter Robot

Hello,
I have been working on a similar project developing a telepresence system to allow the remote control of the Baxter Robot using virtual reality. I saw your videos and understood that the projects are pretty similar. I am still a beginner when it comes to controlling the baxter and If possible, could you please show me a way that would help develop this system. The main help would be normally needed at a stage where the baxter is interfaced with the VR controller mapping system. What softwares have you used for this step.
I hope you will be able to answer this email and show me a way.
Thank you already,
Kris