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CHANGELOG.md

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🔖 Release Note

🏷️ v1.5 (2025.12.29)

🏷️ v1.4 (2025.11.21)

  • The image server has been changed to teleimager. Please refer to the repository README for details.

  • televuer has been upgraded. Please see the repository README for details.

    The new versions of teleimager + televuer support transmitting head camera images via WebRTC.

  • Enriched the task information parameters in recording mode, fixing and improving EpisodeWriter.

  • Improved the system’s state machine information and IPC mode.

  • Added pass-through mode, allowing direct viewing of the external environment through a VR device camera (without using the robot’s head camera).

  • Added CPU affinity mode. If you are not familiar with this mode, you can ignore it.

  • Added motion-switcher functionality, allowing automatic debug mode entry and exit without using a remote controller.

🏷️ v1.3 ( 2025.10.14)

  • add Unitree LOGO Unitree LOGO

  • Support IPC mode, defaulting to use SSHKeyboard for input control.

  • Merged motion mode support for H1_2 robot.

  • Merged motion mode support for the G1_23 robot arm.

  • Optimized data recording functionality.
  • Improved gripper usage in simulation environment.
  • Fixed startup oscillation by initializing IK before controller activation.
  • Fixed SSHKeyboard stop-listening bug.
  • Fixed logic of the start button.
  • Fixed various bugs in simulation mode.

🏷️ v1.2 (2025.7.22)

  1. Upgrade the Dex1_1 gripper control code to be compatible with the dex1_1 service driver.

🏷️ v1.1 (2025.7.18)

  1. Added support for a new end-effector type: brainco, which refers to the Brain Hand developed by BrainCo.
  2. Changed the DDS domain ID to 1 in simulation mode to prevent conflicts during physical deployment.
  3. Fixed an issue where the default frequency was set too high.

🏷️ v1.0 (newvuer) (2025.7.8)

  1. Upgraded the Vuer library to version v0.0.60, expanding XR device support to two modes: hand tracking and controller tracking. The project has been renamed from avp_teleoperate to xr_teleoperate to better reflect its broader capabilities.

    Devices tested include: Apple Vision Pro, Meta Quest 3 (with controllers), and PICO 4 Ultra Enterprise (with controllers).

  2. Modularized parts of the codebase and integrated Git submodules (git submodule) to improve code clarity and maintainability.

  3. Introduced headless, motion control, and simulation modes. Startup parameter configuration has been streamlined for ease of use (see Section 2.2). The simulation mode enables environment validation and hardware failure diagnostics.

  4. Changed the default hand retargeting algorithm from Vector to DexPilot, enhancing the precision and intuitiveness of fingertip pinching interactions.

  5. Various other improvements and optimizations.

🏷️ v0.5 (oldvuer) (2025.4.30)

  1. The repository was named avp_teleoperate in this version.
  2. Supported robot included: G1_29, G1_23, H1_2, and H1.
  3. Supported end-effectors included: dex3, dex1(gripper), and inspire1.
  4. Only supported hand tracking mode for XR devices (using Vuer version v0.0.32RC7). Controller tracking mode was not supported.
  5. Data recording mode was available.