# UNITE Documentation — full text index

> Machine-readable guide to the UNITE documentation. The linked HTML pages are authoritative for the complete examples and reference details.

## Overview

UNITE is an open-source, modular Unity testbed for building and reproducing delayed teleoperation studies. It models a complete experimental apparatus as a configurable set of modules: operator input travels over an uplink to a robot, the robot produces observations over a downlink, assistance can transform either direction, and task and data modules provide trial control and analysis output.

## Getting started

- [Overview](https://docs.driescardinaels.be/): Introduces UNITE, its modular architecture, and the documentation map.
- [Get started](https://docs.driescardinaels.be/get-started/): Install Git, Git LFS, Unity, and the UNITE project; clone the repository; open the project; and run the shipped delayed-teleoperation study.
- [Core concepts](https://docs.driescardinaels.be/concepts/): Explains the teleoperation loop, what a module is, and how configuration represents a study rather than only a software launch setting.

## Module reference

### Uplink — operator to robot

- [Input Provider](https://docs.driescardinaels.be/reference/input-provider/): Produces operator intent and input events for the study.
- [Command Mapping & Encoding](https://docs.driescardinaels.be/reference/command-mapping-encoding/): Converts input into robot commands and encodes commands for transport.
- [Operator-side Assistance (uplink)](https://docs.driescardinaels.be/reference/operator-side-assistance/): Augments or transforms operator intent before it is sent toward the robot.
- [Uplink Communication](https://docs.driescardinaels.be/reference/uplink-communication/): Applies communication delay and transports commands from operator to robot.
- [Remote-side Assistance](https://docs.driescardinaels.be/reference/remote-side-assistance/): Applies assistance at the remote side before commands reach the vehicle or robot.

### Robot

- [Vehicle / Robot Model](https://docs.driescardinaels.be/reference/vehicle-robot-model/): Defines the authoritative simulated vehicle or robot state, motion, and physical boundary used by the study.

### Downlink — robot to operator

- [Remote Observation & State Capture](https://docs.driescardinaels.be/reference/remote-observation-state-capture/): Captures remote sensors and state into observations that can be sent to the operator.
- [Downlink Communication](https://docs.driescardinaels.be/reference/downlink-communication/): Transports observations back to the operator and models communication delay.
- [Operator-side State Reconstruction](https://docs.driescardinaels.be/reference/state-reconstruction/): Reconstructs a usable operator-side view from delayed observations and state history.
- [Operator-side Assistance (downlink)](https://docs.driescardinaels.be/reference/downlink-assistance/): Augments delayed feedback with prediction, filtering, warnings, and study-specific visualisations.
- [Operator Presentation](https://docs.driescardinaels.be/reference/operator-presentation/): Turns released or assisted feedback into visual, auditory, and haptic operator output.

### Cross-cutting

- [Task Goal & Termination](https://docs.driescardinaels.be/reference/task-goal-and-termination/): Evaluates task and stopping criteria, ends trials, and publishes terminal outcomes.
- [Data Capture & Logging](https://docs.driescardinaels.be/reference/data-capture-and-logging/): Records selected module outputs and trial events, then turns observations into analysis-ready metrics.

## Architecture in one line

Operator input → uplink modules → vehicle/robot model → downlink modules → operator presentation, with task termination and data capture observing the study across the loop.