Skip to main content

Configuration Overview

Teleopit uses Hydra for composable configuration. Most entry points start from a top-level YAML and allow command-line overrides.

Runtime assembly is centralized in teleopit/runtime/. Scripts, TeleopPipeline, and the sim2real state machine all share the same path resolution, default propagation, and dimension validation logic.

Top-Level Configs​

ConfigUse Case
teleopit/configs/default.yamlOffline sim2sim (BVH playback)
teleopit/configs/pico4_sim.yamlPico 4 VR sim2sim
teleopit/configs/sim2real.yamlBVH sim2real on Unitree G1
teleopit/configs/pico4_sim2real.yamlPico 4 VR sim2real on Unitree G1

These compose sub-configs:

  • teleopit/configs/robot/g1.yaml
  • teleopit/configs/controller/rl_policy.yaml
  • teleopit/configs/input/bvh.yaml — offline BVH input
  • teleopit/configs/input/pico4.yaml — Pico 4 input through the pico-bridge receiver on the Teleopit host

Override Examples​

Basic Sim2Sim​

python scripts/run/run_sim.py \
    controller.policy_path=policy.onnx \
    input.bvh_file=data/sample_bvh/aiming1_subject1.bvh \
    policy_hz=50 \
    pd_hz=200

Change Viewers​

python scripts/run/run_sim.py controller.policy_path=policy.onnx viewers=all
python scripts/run/run_sim.py controller.policy_path=policy.onnx viewers=none
python scripts/run/run_sim.py controller.policy_path=policy.onnx 'viewers=[retarget,sim2sim]'

Enable Keyboard Playback​

python scripts/run/run_sim.py \
    controller.policy_path=policy.onnx \
    input.bvh_file=data/sample_bvh/aiming1_subject1.bvh \
    playback.keyboard.enabled=true

Change Network Interface (sim2real)​

For wired PC-to-G1 control, run ifconfig on the PC and set this to the interface connected to the robot, such as enp130s0. For onboard execution on the robot computer, the default eth0 is usually correct.

python scripts/run/run_sim2real.py \
    controller.policy_path=policy.onnx \
    real_robot.network_interface=enp130s0

Design Principle: Fail-Fast​

Teleopit does not silently fix misconfigurations:

  • Wrong policy dimensions -> error
  • Observation definition mismatch -> error
  • Missing required paths -> error
  • Using deprecated config key viewer -> error
  • No auto-padding/trimming of observations

When you encounter a configuration error, look for which two components have inconsistent definitions.

For the complete field reference, see Config Reference.