Config Reference

Complete reference for all configurable fields.

Top-Level Fields

Field	Description	Default
policy_hz	Policy inference frequency	50
pd_hz	PD control frequency (simulation only)	200
viewers	Viewer set: mocap, retarget, sim2sim, camera, all, none. all opens mocap, retarget, and sim2sim; add camera explicitly.	sim2sim
realtime	Rate-limit to wall clock	false
num_steps	Number of steps; 0 = infinite	0
keyboard.enabled	Enable realtime keyboard mode control for sim2sim	false
playback.pause_on_end	Pause at last frame when offline motion ends	false
playback.keyboard.enabled	Enable keyboard control for offline playback	false

Robot

Field	Description	Default
robot.num_actions	Joint action dimension	29
robot.xml_path	MuJoCo XML path	-
d435i_rgb	Fixed RGB camera in the G1 MJCF; use viewers=[sim2sim,camera] to display it	-
robot.kps / robot.kds	PD gains	-
robot.default_angles	Default standing pose	-
robot.torque_limits	Joint torque limits	-

Controller

Field	Description	Default
controller.policy_path	Required. Path to ONNX policy file	-
controller.device	Inference device: cpu / auto / cuda:N	cpu
controller.action_scale	Action scaling factor	-
controller.clip_range	Action clipping range	-
controller.default_dof_pos	Joint angle offset base	-

Input

Offline BVH

Field	Description
input.bvh_file	Required. Path to BVH file
input.bvh_format	lafan1 / hc_mocap
input.human_format	Human skeleton format

BVH input does not set input.provider — it is inferred from the config group name.

Pico 4

Field	Description	Default
input.provider	pico4	pico4
input.human_format	Retarget skeleton format	pico_bridge
input.pico4_timeout	Wait timeout in seconds	60
input.pico4_buffer_size	Frame buffer size	60
input.pause_button	Button for pause/resume	A
input.pause_debounce_s	Debounce time for pause button	0.25
input.arms_button	Button for Pico MOCAP / ARMS toggle	B
input.arms_debounce_s	Debounce time for arms-mode button	0.25
input.bridge_host	Teleopit host receiver bind host	0.0.0.0
input.bridge_port	Teleopit host receiver TCP/UDP port	63901
input.bridge_discovery	Enable pico-bridge discovery advertising	true
input.bridge_advertise_ip	Optional advertised host IP override	null
input.bridge_start_timeout	Timeout while starting the bridge	10.0
input.bridge_history_size	Pico frame history retained by the bridge	120
input.video.enabled	Stream host camera preview back to Pico through pico-bridge 0.2.1	false
input.video.source	Video source: mujoco, realsense, or test-pattern	null
input.video.width / height / fps	Video capture/render settings	1280 / 720 / 30
input.video.device	Optional RealSense serial	null
input.video.fail_on_error	Fail startup instead of disabling video on error	false

Realtime

Field	Description
retarget_buffer_enabled	Enable retarget buffering
retarget_buffer_window_s	Buffer window size
retarget_buffer_delay_s	Buffer delay
reference_steps	Reference window steps
realtime_buffer_warmup_steps	Warmup before playback
reference_velocity_smoothing_alpha	Velocity smoothing
reference_anchor_velocity_smoothing_alpha	Anchor velocity smoothing

Sim2Real

Fields used by sim2real configs (sim2real.yaml, pico4_sim2real.yaml).

Sim2real defaults to viewers=none. Set viewers=retarget to open an optional MuJoCo window showing the retargeted reference; sim2sim, mocap, camera, and all are simulation-only viewer modes.

Safety

Field	Description	Default
startup_ramp_duration	Kp ramp duration after entering STANDING; gradually increases PD gains without changing policy targets	2.0
joint_vel_limit	Joint velocity limit (rad/s); triggers emergency damping if exceeded	10.0
mocap_switch.check_frames	Consecutive valid frames required before switching to MOCAP	10
arm_mocap.controlled_joint_indices	G1 joints driven by live retargeting in Pico ARMS mode	[15..28]

Real Robot

Field	Description	Default
real_robot.network_interface	Network interface for Unitree DDS communication. For wired PC-to-G1 control, find the cable interface with ifconfig and set that name, for example enp130s0; for onboard robot execution, eth0 is usually correct.	eth0
real_robot.kp_real	Real-robot proportional gains (per joint)	-
real_robot.kd_real	Real-robot derivative gains (per joint)	-
real_robot.kd_damping	Damping mode kd	8.0
real_robot.control_mode	Ankle control mode (PR = Pitch-Roll)	PR
real_robot.joint_pos_lower	Joint position lower limits (rad)	-
real_robot.joint_pos_upper	Joint position upper limits (rad)	-

Pause/Resume (Pico sim2real)

Realtime Pico resume re-centers heading and ground-plane position before tracking continues. Operators should keep still and stay as close as practical to the paused pose to reduce sudden reference changes.

Dexterous Hand (Pico sim2real)

hands.enabled=true requires input.provider=pico4 plus local editable installs of third_party/linkerhand-python-sdk and third_party/somehand. When enabled, hand control remains active in all sim2real modes. gripper supports linkerhand_l6 and linkerhand_o6 by interpolating Pico trigger input between the configured open and close poses. vr_hand_pose is L6-only: missing hand pose holds the last command for that side, L6 speed is set to the maximum, and Teleopit converts Pico hand state to 21 landmarks before calling somehand 0.2.0 through somehand.api only.

Field	Description	Default
hands.enabled	Enable optional hand worker	false
hands.driver	Hand driver plugin: linkerhand_l6 or linkerhand_o6	linkerhand_l6
hands.mode	gripper or vr_hand_pose	gripper
hands.sides	Controlled sides	[left, right]
hands.rate_hz	Maximum gripper command rate in Hz	30.0
hands.frame_timeout_s	Controller or hand-pose staleness threshold	0.3
hands.linkerhand_l6.left_can / right_can	CAN channels for each hand	can0 / can1
hands.linkerhand_l6.speed	L6 speed used by gripper; vr_hand_pose overrides this to maximum speed	see config
hands.linkerhand_l6.open_pose / close_pose	Six-value L6 open/closed poses	see config
hands.linkerhand_o6.left_can / right_can	CAN channels for each O6 hand	can0 / can1
hands.linkerhand_o6.speed	O6 speed used by gripper	see config
hands.linkerhand_o6.open_pose / close_pose	Six-value O6 open/closed poses	see config
hands.somehand.config_path	Official somehand 0.2.0 bi-hand L6 config used by vr_hand_pose	see config
hands.somehand.rate_hz	Low-latency vr_hand_pose command rate in Hz	60.0
hands.somehand.max_iterations	somehand solver iteration cap for vr_hand_pose	12
hands.somehand.temporal_filter_alpha	somehand input landmark smoothing alpha; 1.0 disables smoothing delay	1.0
hands.somehand.output_alpha	somehand qpos output smoothing alpha; 1.0 disables smoothing delay	1.0

HDF5 Recording (Pico sim2real)

recording.enabled=true is supported only with input.provider=pico4, input.video.enabled=true, input.video.source=realsense, and an interactive terminal. The recorder is manual: R starts an episode, S saves the active episode, D discards the active episode, and Q shuts down. STANDING, MOCAP, ARMS, and paused mocap can be recorded.

sim2real_record.yaml enables both recording and the required RealSense input.video path. Recording does not open a second camera; it consumes the same frames produced by pico_input.

Field	Description	Default
recording.enabled	Enable manual HDF5 recording	false
recording.output_dir	Dataset root directory	data/recordings/sim2real_hdf5
recording.task	Task string stored with frames	demo
recording.fps	Recording/video clock rate	30
recording.min_episode_seconds	Discard saved episodes shorter than this duration	1.0
recording.record_modes	Modes that allow recording start and frame writes	[standing, mocap, arms, pause]
recording.camera.key	RGB image dataset key	observation.images.d435i_rgb
recording.camera.width / height / fps	RealSense RGB capture settings	640 / 480 / 30
recording.camera.device	Optional RealSense serial	null
recording.video.codec / quality / pixelformat	MP4 sidecar encoder settings	libx264 / 8 / yuv420p

Camera failure behavior is controlled by input.video.fail_on_error.

Each saved episode has one .h5 file under recording.output_dir/episodes/ and one compressed MP4 sidecar under recording.output_dir/videos/<camera_key>/. The HDF5 episode stores frame_index and timestamp arrays, plus video_path, video_fps, and video_frames root attributes for synchronization. Raw RGB image datasets are not written.

HDF5 datasets:

frame_index                    int64[N]
timestamp                      float64[N]
observation.state              float32[68]
observation.mode               float32[1]
action                         float32[36]
action.hand                    float32[12]

The root attributes include the Teleopit HDF5 recording format, schema version, task, fps, frame count, and video sync metadata.

observation.state is ordered as joint_pos(29), joint_vel(29), base_quat_wxyz(4), base_ang_vel(3), and projected_gravity(3). observation.mode is a numeric categorical: standing=0, mocap=1, arms=2, and pause=3. action is the current reference qpos: root_pos(3) + root_quat_wxyz(4) + joint_pos(29). action.hand is the latest LinkerHand command from the hand worker: left_pose(6) + right_pose(6), using the SDK's 0-255 pose values.

Critical: default_dof_pos

The RL policy outputs action offsets relative to the default standing pose, not absolute joint angles:

target_dof_pos = clip(action, low, high) * action_scale + default_dof_pos

Therefore:

• default_dof_pos must align with robot.default_angles
• Missing this offset causes the robot to fall immediately

TeleopPipeline automatically passes robot.default_angles to the controller's default_dof_pos during initialization. Understanding this chain is important when writing custom entry points or tests.