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.

Documentation • 中文文档 • Pico VR • Sim2Real • Training

1. Install

pip install -e .

2. Download assets

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

3. Run

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

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

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

Onboard Sim2Real (G1 NX + ZMQ Pico4), G1 Bridge SDK (C++ DDS), simplified offline playback with keyboard controls, standalone standing controller, realtime mocap catch-up; model upgraded to 30k checkpoint.

• Dataset shard-only refactor and adaptive_bin sampling
• 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