Teleopit
- Software
- Humanoids and robot learning
- Tool
A whole-body teleoperation framework that retargets human motion from BVH files or Pico 4 VR to the Unitree G1 humanoid, running in MuJoCo simulation or on real hardware.
Source on GitHub: github.com/BotRunner64/Teleopit (opens in a new tab). Facts read at commit f926386 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit f926386 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Retargets human motion from BVH recordings or Pico 4 VR input to the Unitree G1 humanoid in real time.
- Runs the robot in MuJoCo simulation (sim2sim) or on real hardware (sim2real).
- Provides matched robot models and ONNX/PyTorch tracking policies, downloaded with a setup script.
- Includes a simulated D435i RGB camera view and optional MuJoCo viewers for the reference motion.
- Supports optional neck and LinkerHand L6/O6 hand control, with recording of sim2real episodes to HDF5 and MP4.
- Includes a host high-level-policy sim2real runtime communicating over ZeroMQ.
Written by Robotheca from the project's README (opens in a new tab) at commit f926386.
Getting started
- Difficulty
- Advanced
- Hardware it needs, as the project states it
- Unitree G1 humanoid robot for sim2real; MuJoCo simulation runs without hardware.
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 3 Aug 2026 on master
- Latest release
- v0.5.0 (3 Aug 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.