Heterogeneous 7-DoF Bilateral Teleoperation

This repository contains the manuscript, canonical robot models, pre-prototype closed-loop simulator, and reproducible evidence pipeline for heterogeneous 7-DoF master--slave teleoperation.

The current implementation supports numerical and simulation evidence only. It must not be used to claim physical wrench accuracy, hardware stability, or human-subject performance before the corresponding locked hardware studies are completed.

Repository layout

code/core/: SEW retargeting, H1 baselines, wrench estimation, feedback mapping, network emulation, command allocation, and passivity supervision.
code/simulate_closed_loop.py: rigid-body bilateral simulation using master_7dof.urdf and real_slave_7dof.urdf.
code/experiments/: immutable plans, paired random streams, atomic trial logging, manifests, validation, and executable H1--H4 adapters.
code/analysis/: independent endpoint reconstruction and paper source-data generation.
code/config/experiments/: smoke, calibration, and locked-template study specifications.
docs/calibration/: calibration policy, traceable audit, and machine-readable freeze decisions.
paper/exoskeleton/IEEEtran/main2.tex: canonical manuscript source.

Reproducible environment

Python 3.10 is required. From the repository root:

uv sync --locked

The lock file pins the Pinocchio-compatible urdfdom and tinyxml2 ABIs.

Verification

PYTHONDONTWRITEBYTECODE=1 \
MPLCONFIGDIR=/tmp/exoskeleton-mpl-cache \
XDG_CACHE_HOME=/tmp/exoskeleton-xdg-cache \
.venv/bin/python -m unittest discover -s code/test -p 'test_*.py' -v

Minimal H1 smoke study

.venv/bin/exo-experiment plan \
  --spec code/config/experiments/h1_smoke.json \
  --output /tmp/h1-plan.json

.venv/bin/exo-experiment run \
  --plan /tmp/h1-plan.json \
  --batch-dir output/experiments/h1-smoke \
  --executor experiments.executors:execute_h1_retargeting

.venv/bin/exo-experiment validate \
  --batch-dir output/experiments/h1-smoke

.venv/bin/exo-paper-artifacts \
  --batch-dir output/experiments/h1-smoke \
  --metric-config code/config/experiments/metrics_h1_calibration.json

Equivalent executor/config pairs are documented in code/experiments/README.md.

The current calibration decision is recorded in docs/calibration/CALIBRATION_AUDIT_2026-07-27.md. It deliberately leaves H1 and the bilateral gain/energy settings unfrozen; calibration values are not manuscript Results. The companion formula-linked workbook is outputs/calibration-20260727/calibration_audit_2026-07-27.xlsx.

Manuscript build

Compile from paper/exoskeleton so the assets/ paths resolve:

cd paper/exoskeleton
latexmk -pdf -interaction=nonstopmode -halt-on-error IEEEtran/main2.tex

Evidence locking

Calibration and pilot studies may run without Git provenance. A locked study requires a clean Git worktree, an immutable commit, and matching hashes for the environment lock and canonical URDFs. Restoring a locked batch from a different commit or modified source files is rejected by design.

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