Teleopit

Lightweight, extensible whole-body teleoperation framework for humanoid robots.
Real-time motion retargeting from BVH / Pico 4 VR to Unitree G1, in MuJoCo sim or on real hardware.

Project Homepage • Documentation • 中文文档

1. Install

pip install -e .

2. Download assets

pip install modelscope
python scripts/setup/download_assets.py --only robots gmr ckpt bvh

The default Unitree G1 robot model is downloaded to assets/robots/unitree_g1/g1_29dof.xml, with additional model variants in the same directory. Training can select a task-compatible XML with --robot_xml; the quick-start command below uses the default model and its matching ckpt/track_g1.onnx policy. The neck-and-O6 variant uses g1_29dof_neck_o6.xml with ckpt/track_g1_neck_o6.onnx.

3. Run

python scripts/run/run_sim.py \
    controller.policy_path=ckpt/track_g1.onnx \
    input.bvh_file=data/sample_bvh/aiming1_subject1.bvh

You should see a MuJoCo viewer with the robot tracking the BVH motion.

To show the simulated D435i RGB camera view, add the explicit camera viewer:

python scripts/run/run_sim.py \
    controller.policy_path=ckpt/track_g1.onnx \
    input.bvh_file=data/sample_bvh/aiming1_subject1.bvh \
    'viewers=[sim2sim,camera]'

For sim2real, viewers are disabled by default. Add viewers=retarget to show the retargeted reference in an optional MuJoCo window.

Full docs at BotRunner64.github.io/Teleopit, covering installation profiles, all tutorials, configuration reference, and architecture.

• Added an independent host high-level-policy sim2real runtime with a strict msgpack/ZeroMQ protocol, asynchronous receding-horizon replanning, timestamp-aligned scheduling, and validated, rate-limited 50 Hz output.
• Extended G1 peripheral support with OpenNeck 0.2.0 physical-angle control, Pico HMD active-vision mapping, LinkerHand O6 hand-pose control through somehand 0.3.0, and hand/neck state readback.
• Updated sim2real recording and review around schema.json, episodes.jsonl, per-episode HDF5 files, compressed MP4 video, optional hand/neck state and action fields, and a synchronized recording viewer.
• Added matched G1 model/policy pairs: g1_29dof.xml with ckpt/track_g1.{pt,onnx}, and g1_29dof_neck_o6.xml with ckpt/track_g1_neck_o6.{pt,onnx}.
• Updated the OmniXtreme-style benchmark and hardened Pico/RealSense recovery, GMR mocap-entry cold start, the high-level-policy watchdog, and reference safety handling.

• The v0.4 root-level track.{pt,onnx} paths are replaced by ckpt/track_g1.{pt,onnx}; the neck-and-O6 runtime requires its matching robot model and policy.
• The old attribute-based sim2real HDF5 format is unsupported; recording, conversion, and review use the current manifest-based source layout.
• The host-policy protocol has no legacy envelope compatibility, and the old normalized OpenNeck API is unsupported; Teleopit and its companion runtimes must use matching versions.

• Improved Pico realtime control with pico-bridge 0.2.1, ARMS mode, armed sim2real mocap entry, and retargeter-preserving pause/arms resets.
• Added optional LinkerHand L6/O6 sim2real control, including Pico gripper input and low-latency L6/O6 vr_hand_pose.
• Added manual Pico sim2real HDF5 recording and an interactive Pico motion recorder for training NPZ clips.
• Refined the training data path with minimal HDF5 shards, explicit precompute, rewind sampling, and updated tracking rewards.

• Consolidated realtime input around pico-bridge 0.2.0 and removed the old ZMQ/onboard Pico path.
• Unified sim/sim2real reference buffering, resume realignment, and velocity smoothing.
• Added UDP BVH realtime input, online sim config, multi-viewer support, and fixed camera viewing.
• Split sim2real reference/safety runtime modules and updated the G1 MuJoCo camera asset.

• Added Pico 4 teleoperation through pico-bridge and the G1 Bridge SDK.
• Added offline playback keyboard controls, Pico sim2sim mode control, and a standalone standing controller.
• Improved realtime mocap buffering/catch-up and upgraded the released model to the 30k checkpoint.

• Dataset shard-only refactor
• External asset management (ModelScope), repository slimming

• Initial public release: General-Tracking-G1 training, ONNX sim2sim inference, Pico 4 VR teleoperation, Unitree G1 hardware deployment

Apache 2.0