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Motion Recording

This tutorial records the retargeted G1 motion stream published by sim2real/teleop/pico_retarget_pub.py and saves it as an any4hdmi qpos motion clip.

1. Start the live publisher​

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

2. Record the motion stream​

uv --project venv/teleop run sim2real/teleop/record_motion.py \
  --connect tcp://127.0.0.1:28701

Press Ctrl-C to stop recording and write the dataset.

Output​

By default, the recorder creates a timestamped directory such as g1_motion_YYYYMMDD_HHMMSS/ and writes:

  • motion.npz
  • the single-motion dataset payload
  • the generated manifest

The terminal prints the final output directory, frame count, invalid frame count, and inferred FPS.

3. Optional: replay the saved motion in the realtime viewer​

uv --project venv/teleop run sim2real/teleop/realtime_viewer.py \
  --motion_backend npz \
  --motion_path g1_motion_YYYYMMDD_HHMMSS/motion.npz