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Teleop Project (Onboard Orin)

Use this path when Pico / XR tooling runs directly on the G1 onboard Orin. The root project still provides the policy runtime and scripts/real_bridge.py.

Setup​

uv --project venv/teleop sync

Choose the setup path that matches the onboard Orin image:

JetPack 5​

Download the JetPack 5 prebuilt package bundle and extract it at the repo root so prebuilt/ exists.

Install XRoboToolkit PC Service from the prebuilt bundle:

sudo apt install -y \
  ./prebuilt/jetpack5-aarch64/xrobotservice/XRoboToolkit-PC-Service_1.0.0.0_arm64_ubuntu20.04.deb

JetPack 6​

If the onboard Orin is already on JetPack 6, for example after flashing Sonic, do not download the JetPack 5 prebuilt bundle.

Download the arm64 .deb for XRoboToolkit PC Service from:

https://github.com/XR-Robotics/XRoboToolkit-PC-Service/releases

sudo apt install -y ./XRoboToolkit*.deb

Start the service:

bash /opt/apps/roboticsservice/runService.sh

Clone the Pico SDK repos​

mkdir -p external
git clone https://github.com/YanjieZe/XRoboToolkit-PC-Service-Pybind.git \
  external/XRoboToolkit-PC-Service-Pybind
git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git \
  external/XRoboToolkit-PC-Service
git -C external/XRoboToolkit-PC-Service checkout orin

These repos are used to build xrobotoolkit_sdk. They are separate from the installable XRoboToolkit PC Service .deb.

JetPack 5 only: replace the upstream aarch64 gRPC package​

Build the JetPack 5 compatible package first by following XRobot gRPC JetPack 5, then replace the upstream directory:

export sdk_grpc="external/XRoboToolkit-PC-Service/RoboticsService/Redistributable/linux_aarch64/grpc"
export local_grpc="prebuilt/jetpack5-aarch64/xrobot-grpc"

rm -rf "$sdk_grpc.upstream"
mv "$sdk_grpc" "$sdk_grpc.upstream"
cp -a "$local_grpc" "$sdk_grpc"

If the onboard Orin is on JetPack 6, skip this section and keep the upstream linux_aarch64/grpc directory.

Build and install xrobotoolkit_sdk​

bash scripts/setup/setup_xrobot_pybind.sh --arch aarch64

Verify Installation​

Start the live retarget publisher on the G1 onboard Orin:

uv --project venv/teleop run sim2real/teleop/pico_retarget_pub.py \
  --bind tcp://*:28701 \
  --publish_hz 50 \
  --actual_human_height 1.80

In a second terminal, run the realtime viewer and point it at the G1 Orin IP:

uv --project venv/teleop run sim2real/teleop/realtime_viewer.py \
  --connect tcp://<g1-orin-ip>:28701 \
  --viewer_hz 50

If the viewer updates with live G1 retargeted motion, the onboard teleop stack is ready.

Notes​

  • Run uv sync in the repo root as well when the onboard machine also runs the policy and bridge processes.
  • When the Pico publisher runs on a separate PC, point policy-side ZMQ arguments at that machine's IP.

Next Steps​