Tech Development
We transitioned from Unity-based robot control development to researching the xr_teleoperate framework for Apple Vision Pro integration. I evaluated the official Unitree teleoperation system, discovering it uses a web-based interface through Safari rather than Unity, with WebRTC streaming via the televuer module for real-time VR hand tracking to robot control. I designed a comprehensive 5-day deployment plan covering environment setup with Python 3.10 and critical dependencies (Pinocchio for inverse kinematics, teleimager and televuer modules), SSL certificate generation requirements for Vision Pro HTTPS/WebRTC communication, and the complete pipeline from Vision Pro hand tracking through the dex-retargeting system to G1 robot motion. This research phase involved analyzing the repository architecture, understanding the multi-component communication stack (XR device → televuer server → hand retargeting → robot control), and creating a structured deployment roadmap that would enable systematic testing from simulation mode through physical robot teleoperation.
