Sim2Real Overview

Sim2Real control uses g1_bridge_sdk, the C++ DDS bridge for Unitree G1. Use this page to choose the right hardware tutorial.

Goal	Tutorial
Verify bridge, network, and policy standing without mocap	Standalone Standing Test
Drive the physical G1 from Pico full-body tracking	Pico Sim2Real
Replay an offline BVH motion on the physical G1	BVH Sim2Real Playback

Shared Concepts

real_robot.network_interface must point to the Linux interface used for Unitree DDS communication.

Deployment	Where Teleopit Runs	Typical Interface
Wired PC-to-G1	External PC connected to G1 by Ethernet	enp..., for example enp130s0
Onboard	G1 onboard computer	eth0

The Unitree remote controls the real-robot state machine:

Button	Action
Start	Enter STANDING from IDLE or DAMPING
Y	Enter MOCAP from STANDING
X	Return from MOCAP to STANDING
L1+R1	Emergency stop into DAMPING

Always verify the policy in simulation first, keep the Unitree remote in hand, and enter MOCAP only after input data is stable.