Companion Projects

Teleopit integrates four focused components for robot communication, hand retargeting, active vision, and PICO transport. They are kept outside the teleopit Python package so each project can own its hardware protocol and public API.

Component	Source	Function	Use in Teleopit
G1 Bridge SDK	Teleopit source tree	Native C++/pybind11 bridge over Unitree SDK2 and Cyclone DDS	Real-time G1 state, remote input, mode selection, and 200 Hz low-level commands
somehand	GitHub	Dexterous-hand retargeting library	Maps live Pico hand landmarks to LinkerHand L6/O6 targets
OpenNeck	GitHub	Calibrated two-axis neck driver	Converts physical yaw/pitch degrees to safe servo commands
PICO Bridge	GitHub	Headset app and Python receiver for PICO tracking and video	Supplies body, controller, hand, and HMD frames and optionally returns RGB video

G1 Bridge SDK

G1 Bridge SDK is maintained directly in Teleopit under third_party/g1_bridge_sdk; it is not a separate repository. Its setup script downloads Unitree SDK2, then builds and installs the local pybind11 extension:

bash scripts/setup/setup_g1_bridge.sh

All DDS publish/subscribe work runs on native C++ threads. Teleopit's UnitreeG1 adapter reads joint state, base orientation, angular velocity, and wireless-remote input through the bridge, and sends 29-joint position targets with per-joint PD gains. This is the hardware boundary used by sim2real teleoperation, the standalone standing check, and host-policy deployment.

somehand

somehand provides configurable human-to-robot hand retargeting. Teleopit pins the compatible source as the third_party/somehand Git submodule and uses its 0.3.0 public somehand.api surface.

In hands.mode=vr_hand_pose, Teleopit converts PICO's 26-joint hand state to 21 landmarks, calls somehand for continuous retargeting, and sends the result to LinkerHand L6 or O6. Teleopit owns the live Pico receiver and the landmark conversion; it does not start somehand's standalone Pico input path.

Install the dexterous-hand dependencies with:

git submodule update --init --recursive
pip install -e third_party/linkerhand-python-sdk
pip install -e third_party/somehand

OpenNeck

OpenNeck owns serial communication, degree-to-servo-step conversion, and calibrated mechanical limits for the two-axis active-vision gimbal. Teleopit supports the OpenNeck 0.2.0 physical-angle API and calls move_deg(); removed normalized control fields are not compatible.

For Pico teleoperation, Teleopit computes HMD rotation relative to the same-frame Body.Spine3 orientation, applies the configured dead zone and pitch gain, and sends yaw/pitch degrees from a non-critical neck worker. Host policy deployment sends the validated neck fields from its canonical action.

pip install -e '.[openneck]'
openneck calibrate

PICO Bridge

PICO Bridge contains both the headset application and the importable Python PC receiver. Teleopit supports release 0.2.1, installed by the pico4 extra:

pip install -e '.[pico4]'

One in-process PicoBridge instance supplies full-body, controller, hand, and independent HMD data to Teleopit. Whole-body retargeting, hand control, and OpenNeck all reuse that receiver. When video is enabled, Teleopit can also push MuJoCo or RealSense RGB frames back to the headset through push_video_frame().

Download the headset APK from the PICO Bridge releases.