{"id":389,"date":"2026-02-12T22:43:06","date_gmt":"2026-02-12T22:43:06","guid":{"rendered":"https:\/\/projects.etc.cmu.edu\/soulos\/?page_id=389"},"modified":"2026-03-16T20:32:30","modified_gmt":"2026-03-16T20:32:30","slug":"week-04","status":"publish","type":"page","link":"https:\/\/projects.etc.cmu.edu\/soulos\/week-04\/","title":{"rendered":"Week 04"},"content":{"rendered":"\n

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Tech Development<\/strong><\/p>\n\n\n\n

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 \u2192 televuer server \u2192 hand retargeting \u2192 robot control), and creating a structured deployment roadmap that would enable systematic testing from simulation mode through physical robot teleoperation.<\/p>\n<\/div>\n\n\n\n

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Week 05\u2192<\/a><\/p>\n<\/div>\n\n\n\n

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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 […]<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-389","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/pages\/389","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/comments?post=389"}],"version-history":[{"count":6,"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/pages\/389\/revisions"}],"predecessor-version":[{"id":490,"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/pages\/389\/revisions\/490"}],"wp:attachment":[{"href":"https:\/\/projects.etc.cmu.edu\/soulos\/wp-json\/wp\/v2\/media?parent=389"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}