AnySense vs TeleTool2

AnySense is an open-source iPhone app that enables multi-sensory data collection by integrating the iPhone's sensory suite with external sensors via Bluetooth and wired interfaces, enabling both offline data collection and online streaming to robots. The app also supports on-device policy evaluation: you can load a trained CoreML policy, set a 3D goal in AR, and run the policy with AR visualization of predicted actions without a robot. We record RGB and depth videos, metric depth frames, streamed Bluetooth data (e.g. from tactile sensors) into a binary file, and timestamped pose data as a `.txt` file. Example streaming code for Bluetooth data can be found on AnySkin. USB streaming is supported by connecting the iPhone to your computer and using the library - https://github.com/NYU-robot-learning/anysense-streaming.

TeleTool2 brings advanced robot interface capabilities to your iOS device by leveraging Apple’s ARKit to track and transmit 6 Degrees of Freedom (6DoF) camera poses in real time. Designed for robotics applications such as end-effector tracking, teleoperation, and data collection, this tool streams high-fidelity motion data via a socket client, making it ideal for integration with custom robot systems or research setups.