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Teleoperation Quick Guide

This document describes a practical teleoperation startup flow using the scripts in this repository.

1. Prepare Your Tracking Devices

Set up your body/hand tracking stack based on your hardware combination:

After device setup is complete, choose the teleop combination in teleop.sh (policy, body, and hand selectors).

2. Start the G1 Controller

Follow g1.md first for robot-side preparation.

2.1 Sim Controller

## for --policy twist2
conda activate humdex
# Warm arp the redis server at first time
bash scripts/run_motion_server.sh
bash scripts/sim2sim.sh



## for --policy sonic
# Terminal 1 — MuJoCo simulator
cd ../GR00T-WholeBodyControl
source .venv_sim/bin/activate
python gear_sonic/scripts/run_sim_loop.py

# Terminal 2 — C++ deployment
cd ../GR00T-WholeBodyControl/gear_sonic_deploys
source scripts/setup_env.sh
bash deploy.sh sim --input-type zmq

2.2 Real Controller

## for --policy twist2
conda activate humdex
bash scripts/run_motion_server.sh
bash scripts/sim2real.sh



## for --policy sonic
cd ../GR00T-WholeBodyControl/gear_sonic_deploys
source scripts/setup_env.sh
bash deploy.sh real --input-type zmq

3. Start the Wuji Hand Controller

Follow wuji.md first for wuji hand setup.

3.1 Sim Hand Controller

conda activate humdex
bash scripts/wuji_hand_sim.sh

3.2 Real Hand Controller

conda activate humdex
bash scripts/wuji_hand_real.sh

4. Launch Teleop

Use the unified teleop entry:

conda activate gmr
bash scripts/teleop.sh [options] [-- extra_args]

Supported selectors:

  • --policy {twist2|sonic} (default twist2)
  • --body {vdmocap|slimevr} (default vdmocap)
  • --hand {vdhand|manus} (default vdhand)

Common examples:

# default combo
bash scripts/teleop.sh

# sonic + vdmocap + manus
bash scripts/teleop.sh --policy sonic --body vdmocap --hand manus

# twist2 + slimevr + vdhand
bash scripts/teleop.sh --policy twist2 --body slimevr --hand vdhand

Keyboard controls during teleop:

  • k: toggle between send mode and default mode.
    • send mode: live retargeted commands are sent to the robot.
    • default mode: the robot returns to (or stays at) the configured safe default pose.
  • p: toggle hold mode.
    • hold mode on: freeze at the current command/pose and stop following new incoming teleop motion.
    • hold mode off: resume normal live following.

Make sure your tracker setup and teleop selectors match the same data sources.