Quick Start

This guide walks you through running your first sim2sim playback in under 5 minutes.

Prerequisites

1. Install Teleopit (inference profile)
2. Download assets (--only gmr ckpt bvh)

Run Offline Sim2Sim

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

You should see MuJoCo viewer windows showing the robot tracking the BVH motion.

Keyboard Controls

When running with playback.keyboard.enabled=true:

Key	Action
Space / P	Pause / Resume
R	Replay from start
Q	Stop

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

Viewer Modes

Control which viewers are displayed:

# All viewers (mocap + retarget + sim2sim)
python scripts/run/run_sim.py controller.policy_path=track.onnx viewers=all

# No viewer (headless)
python scripts/run/run_sim.py controller.policy_path=track.onnx viewers=none

# Specific viewers
python scripts/run/run_sim.py controller.policy_path=track.onnx 'viewers=[retarget,sim2sim]'

What's Next

• Offline Sim2Sim Tutorial - Full guide with recording and rendering
• Pico 4 VR - Real-time VR teleoperation
• Sim2Real - Deploy to Unitree G1 hardware
• Training - Train your own policy