Pico 4 VR Teleoperation in Simulation

Use this tutorial to verify Pico 4 / Pico 4 Ultra full-body tracking in MuJoCo before running on real Unitree G1 hardware.

Pico headset -> pico-bridge receiver -> retarget -> RL policy -> MuJoCo G1

After this works, continue with Pico Sim2Real.

Supported Devices

• Pico 4
• Pico 4 Ultra

1. Set Up The Headset

1. Download the headset APK from pico-bridge Releases.
2. Install it with adb:

   adb install pico-bridge.apk

3. Launch the pico-bridge headset client.
4. Enable full-body tracking.
5. Keep the headset and Teleopit host on the same network.

2. Install The Pico Host Extra

On the machine that will run Teleopit:

pip install -e '.[pico4]'

Verify the receiver package:

python -c "from pico_bridge import PicoBridge; print('OK')"

Teleopit starts pico_bridge.PicoBridge in-process through Pico4InputProvider. The same Pico input path is used later for wired and onboard sim2real deployment.

3. Download Assets

pip install modelscope
python scripts/setup/download_assets.py --only gmr ckpt bvh

4. Run Pico Sim2Sim

python scripts/run/run_sim.py \
    --config-name pico4_sim \
    controller.policy_path=track.onnx

The simulation starts in STANDING. Wait until Pico tracking is active, then enter MOCAP.

Keyboard	Action
Y	Enter MOCAP
A	Pause / resume live mocap
X	Return to STANDING
Q	Quit

pico4_sim.yaml defaults to viewers=all, which opens mocap, retarget, and sim2sim viewers. Use viewers=sim2sim or viewers=none when you want fewer windows.

Pause / Resume

Pico pause/resume freezes the mocap session; it is not a switch back to STANDING.

• Press keyboard A or the Pico/controller pause button to freeze the current reference pose.
• Press it again to rebuild the realtime reference path, re-center yaw and ground-plane position, and continue from the current live tracking stream.

The default Pico pause button is A. Supported overrides include B, X, Y, left_axis_click, right_axis_click, left_menu_button, and right_menu_button.

Optional Headset Video Preview

pico-bridge 0.2.0 can show a host-side camera stream in the headset. In simulation, Teleopit can stream the MuJoCo d435i_rgb camera:

python scripts/run/run_sim.py \
    --config-name pico4_sim \
    controller.policy_path=track.onnx \
    input.video.enabled=true

Use input.video.source=test-pattern for a receiver-side video sanity check. If video startup fails, Teleopit logs the error, disables video, and keeps tracking and control running. Set input.video.fail_on_error=true to fail startup instead.

Common Parameters

# Pico wait timeout for the first body frame
input.pico4_timeout=30

# Override the IP advertised to the headset during discovery
input.bridge_advertise_ip=192.168.1.20

# Disable discovery and bind explicitly
input.bridge_discovery=false input.bridge_host=0.0.0.0 input.bridge_port=63901

# Change the Pico pause button
input.pause_button=right_axis_click

# Disable keyboard mode control
keyboard.enabled=false

# Change policy frequency
policy_hz=30

# Enable headset video preview
input.video.enabled=true

Troubleshooting

Symptom	Likely Cause	Fix
ImportError: pico_bridge	Pico extra not installed	Run pip install -e '.[pico4]'
Startup says pico-bridge is too old	Installed receiver does not support video args	Reinstall the Pico extra so pico-bridge 0.2.0 is used
TimeoutError: No Pico4 body data	Headset is not connected or body tracking is inactive	Check the headset app, network, and input.pico4_timeout
Discovery cannot find the host	Wrong advertised IP or blocked UDP	Set input.bridge_advertise_ip=<host-ip> and confirm UDP port 63901 is reachable
Sim robot does not follow	Loop is still in STANDING	Press Y after tracking is ready
Pico video is black or disabled	Video source failed or camera access is unavailable	Check input.video.source and logs