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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

2. Record the motion stream​

uv run scripts/record_motion.py

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:

  • manifest.json
  • motions/motion.npz

The output directory is an any4hdmi dataset root. The terminal prints the final output directory, frame count, invalid frame count, and inferred FPS.

3. Optional: replay the saved motion with any4hdmi​

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

The live retarget viewer is built into sim2real/teleop/pico_retarget_pub.py. It does not replay recorded .npz files.