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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 shared sim2real artifacts folder and place third_party/ at the repo root. The JetPack 5 onboard path needs third_party/prebuilt/jetpack5-aarch64/.

Install XRoboToolkit PC Service from the prebuilt bundle:

sudo apt install -y \
  ./third_party/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 use the JetPack 5 prebuilt service 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="third_party/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

Open the mjviser URL printed by the publisher. If it updates with live G1 retargeted motion, the onboard teleop stack is ready.

To record and replay a qpos clip after the live publisher is running, use the root project environment:

uv run scripts/record_motion.py
uv run scripts/view_motion.py --motion g1_motion_YYYYMMDD_HHMMSS/motions/motion.npz

Notes​

  • Run uv sync in the repo root as well when the onboard machine also runs the policy and bridge processes.
  • Use uv sync --group g1 in the repo root when the onboard machine runs --robot-io inline or scripts/real_bridge_cpp.py.
  • When the Pico publisher runs on a separate PC, point policy-side ZMQ arguments at that machine's IP.

Next Steps​