 Joe DiPrima
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ddde0f3f45
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Phase 5.5+: VP teleop working, R3 buttons, calibration, deploy scripts
Context system updates:
- New: teleoperation.md (VP WebXR pipeline, xr_teleoperate architecture)
- New: robot-modifications-log.md (tracking all changes made to robot)
- Updated: deployment-operations, networking, open-questions, sensors,
sdk-programming, simulation, whole-body-control, glossary
- CLAUDE.md: added Phase 5.5 history, SSH safety rules, Gitea workflow
Deploy tooling:
- scripts/pull_on_robot.py: pull xr_teleoperate from Gitea via paramiko
- scripts/launch_teleop.py: launch teleop in screen session via SSH
- scripts/diagnose_r3_buttons.py: R3 controller button bitmask diagnostic
Key milestones this phase:
- VP WebXR arm tracking verified end-to-end
- Integral drift correction (Ki, clamp, decay, toggle)
- R3 controller buttons mapped to teleop commands (A/B/X/Y/Start)
- Start-time calibration for relative-mode arm tracking
- Arm reset with auto-pause and re-calibration workflow
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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1 month ago |
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Joe DiPrima
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36a93e0e3a
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Phase 4: DDS bridge debugging, GR00T-WBC real robot prep, Vision Pro telepresence research
- Diagnosed DDS multicast blocked by UFW firewall on GB10 (root cause)
- Confirmed DDS active inside robot (342 pkts/4s from locomotion computer)
- Documented SSH credentials (unitree@192.168.123.164, pw: 123)
- Created real robot launch script and DDS test script
- Researched Vision Pro integration paths (xr_teleoperate WebXR, VisionProTeleop native)
- Documented GR00T-WBC decoupled architecture and CONTROL_GOAL_TOPIC integration point
- Added CURRENT-STATE.md handoff document for session continuity
- Updated networking-comms, open-questions, motion-retargeting, learning-and-ai context files
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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1 month ago |
