VR Teleoperation on Unitree G1

This guide moves the Pico workflow from MuJoCo to a physical Unitree G1. First choose where Teleopit will run, then verify standing control before handing the robot over to live body tracking.

Keep the Unitree remote in your hand

Use L1+R1 to enter DAMPING whenever motion is unexpected. Keep clear space around the robot and have another person ready to support or stop it.

Choose a Deployment

External host: whole-body tracking only

Run Teleopit on a workstation or laptop connected to G1 by Ethernet. The Pico headset must be able to reach this computer over the network.

This deployment is for G1 whole-body control only. Keep LinkerHand, OpenNeck, RealSense preview and recording disabled. Find the wired interface connected to G1:

ifconfig

Use that interface name in the commands below. The examples use enp130s0.

Onboard computer: full embodiment

Run Teleopit directly on the G1 onboard computer when you also need LinkerHand, OpenNeck, RealSense preview or data collection. The Pico headset must be able to reach the onboard computer.

When the onboard setup includes both O6 hands and OpenNeck, set the low-level tracking policy to controller.policy_path=ckpt/track_g1_neck_o6.onnx.

The G1 DDS interface is eth0 by default. Apart from the network interface and the optional onboard hardware settings, the body-control configuration and launch command are the same as for an external host.

Before You Start

Do not continue until all of these are true:

• VR Teleoperation in Simulation works reliably.
• You installed the pico4 profile and built g1_bridge_sdk as described in Installation.
• ckpt/track_g1.onnx, the robot files and GMR assets are present.
• The machine running Teleopit has a wired DDS connection to G1.
• No other program is commanding the robot.

1. Check Standing Control

Check state reception and policy timing without sending motor commands. On an external host, replace enp130s0 with the interface reported by ifconfig:

python scripts/run/standalone_standing.py \
    --policy ckpt/track_g1.onnx \
    --network-interface enp130s0 \
    --dry-run

On the onboard computer, use --network-interface eth0.

If the dry run succeeds, repeat the command without --dry-run in a safe hardware setup:

python scripts/run/standalone_standing.py \
    --policy ckpt/track_g1.onnx \
    --network-interface enp130s0

Stop here if standing control is not stable. Follow the Standalone Standing Test before adding Pico input.

2. Start Pico Sim2Real

External-host example:

python scripts/run/run_sim2real.py \
    --config-name pico4_sim2real \
    controller.policy_path=ckpt/track_g1.onnx \
    real_robot.network_interface=enp130s0

Onboard-computer example:

python scripts/run/run_sim2real.py \
    --config-name pico4_sim2real \
    controller.policy_path=ckpt/track_g1.onnx \
    real_robot.network_interface=eth0

Starting the program does not immediately give Pico control of the robot.

3. Use the G1 State Machine

Labels beginning with G1 remote refer to the Unitree remote. Labels beginning with Pico controller refer to the VR controllers. The computer keyboard does not switch robot modes.

Press G1 remote Start to enter STANDING. Wait until the robot is stable, stand in a neutral pose and make sure Pico tracking is valid. Then press G1 remote Y to enter MOCAP, and begin with small, slow movements. Press G1 remote X when you want to end the VR session and return to STANDING.

MOCAP follows the whole body. ARMS keeps the body, waist and legs in the standing pose while both arms continue to follow. PAUSED holds the current reference; resuming returns to the previous MOCAP or ARMS state.

Teleopit checks several consecutive Pico frames before entering MOCAP. If that check fails, the robot stays in STANDING.

Pause and resume

G1 remote B or Pico controller A pauses and resumes the current session. Resume while standing still and close to the held pose. Use G1 remote X instead when you want to end the session.

If Pico input stops, body control holds the last reference and the G1 remote remains available. Use X to return to STANDING, or L1+R1 to enter DAMPING; do not wait for an automatic mode change.

Onboard Only: LinkerHand

Skip this section unless LinkerHand hardware is connected to the onboard computer. Install the hand packages from Installation, then bring up both CAN interfaces:

sudo /usr/sbin/ip link set can0 up type can bitrate 1000000
sudo /usr/sbin/ip link set can1 up type can bitrate 1000000

Test both hands before starting G1 control:

python scripts/dev/test_linkerhand.py \
    --driver linkerhand_o6 \
    --hand-type both \
    --left-can can0 \
    --right-can can1

Enable O6 hand-pose control by adding these overrides to the sim2real command:

hands.enabled=true
hands.driver=linkerhand_o6
hands.mode=vr_hand_pose
hands.linkerhand_o6.left_can=can0
hands.linkerhand_o6.right_can=can1

With hands.mode=gripper, hold the controller's side grip trigger to enable that hand, then use the index trigger to control how far it closes. Releasing the side grip trigger commands that hand to open. LinkerHand L6 is also supported through the matching hands.linkerhand_l6.* settings.

Onboard Only: OpenNeck

Install and calibrate OpenNeck:

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

Then add these overrides to the sim2real command:

neck.enabled=true
neck.port=/dev/ttyACM0

OpenNeck follows the Pico HMD relative to the operator's upper body. It reuses the existing Pico receiver.

Onboard Only: RealSense Preview

Install pyrealsense2, then add:

input.video.enabled=true
input.video.device=<optional-realsense-serial>

The camera view is sent to the headset. A timeout restarts the camera in the background without stopping Pico tracking or G1 control.

Onboard Only: Record and Review Data

Recording requires a fresh RealSense RGB frame:

python scripts/run/run_sim2real.py \
    --config-name sim2real_record \
    controller.policy_path=ckpt/track_g1.onnx \
    real_robot.network_interface=eth0 \
    recording.task="walk forward"

Use terminal R to start an episode, S to save it, D to discard it and Q to shut down. If no fresh camera frame arrives for one second, the active episode is discarded while robot control continues. Start a new episode manually after video recovers.

Review the saved recording with:

pip install -e '.[review]'
python scripts/view/view_recording.py \
    --recording data/recordings/sim2real_hdf5

The viewer synchronizes camera video, measured and reference G1 poses, and optional hand and neck signals. See Teleoperation Datasets for the stored fields.

Common Problems

Problem	Solution
RealSense does not work on Arm	Remove the PyPI wheel with pip uninstall pyrealsense2, then install the conda-forge Arm build with conda install -c conda-forge pyrealsense2

Other G1 Workflows

• Standalone Standing Test
• BVH Playback on Unitree G1
• From Teleoperation Data to Imitation Learning / VLA Deployment