Unity VR & Robotics Engineer Needed to Perfect 7-DOF Arm Telepresence

We are building a cutting-edge VR telepresence system that allows a user to control a real, physical robotic arm remotely. The user wears a Meta Quest headset and moves their controller, and a physical 7-DOF robotic arm (the Elephant Robotics Mercury A1) mimics their movements in real-time. We have already built a robust foundation. The Unity client successfully communicates with the robot's Python backend via a UDP network bridge. We have implemented custom Inverse Kinematics (IK), a virtual joystick constraint system, anti-jerk glitch rejection, and singularity damping. Now, we need an expert to step in and perfect the movement. The Challenge: Translating human arm movement into 7-DOF robotic movement over a network is a massive mathematical challenge. We are looking for someone to refine our IK solvers and our robotic arm setup, optimize the VR-to-real-world coordinate mapping, and make the teleoperation feel flawless, smooth, and safe. The goal is to have a virtual robotic arm that moves in perfect sync with the real robotic arm. Your task will be to: Refining Kinematics: Tuning the custom position and orientation IK solvers to prevent gimbal locks and improve dexterity near singularities. Coordinate Systems: Perfecting the spatial alignment between the Oculus tracking space and the physical robot's joint constraints, improving our mapping between a virtual robot so that it moves in perfect sync with the real robot. Smoothing & Safety: Improving our smoothing algorithms, deadbands, and safety rails (e.g., anti-windup leashes, slew rate limiters) to ensure the physical hardware never behaves violently or unpredictably. Control Loops: Fine-tuning the network send/receive logic to mask latency and keep the physical arm perfectly synced with the virtual ghost arm. Who We Are Looking For Deep Unity & C# Knowledge: You know your way around Unity's physics and update loops. Strong 3D Math / Spatial Logic: You are highly comfortable with Quaternions, Euler angles, matrices, and transforming vectors between local and world spaces. Robotics & IK Experience: You understand how physical joints work, how to calculate manipulability, and how to constrain movement safely and where to find data for robotic arms to make realistic virtual clones. Safety-First Mindset: You understand that physical robots can cause damage if the code glitches, and you code defensively.