run-teleop

name	run-teleop
description	Launch the geniesim_teleop VR / Pico teleoperation loop (or the in-process image bridge) using the `geniesim teleop` CLI verb, typically inside the Genie Sim GUI Docker container. Trigger: When the user asks to "start teleop", "run teleop", "启动遥操作", "VR 采集", "遥操作采集", "drive the robot with the VR headset", "launch the teleop loop", or wants to run anything under `geniesim_teleop`.
license	MPL-2.0
metadata	{"author":"genie-sim","version":"1.0"}
prerequisites	["geniesim_cli:fresh-machine-setup"]
inputs	[{"name":"device_type","desc":"VR device family","required":false,"default":"pico"},{"name":"port","desc":"VR server port (where the headset connects)","required":false,"default":"8080"},{"name":"robot_config","desc":"Robot config JSON (gripper variant)","required":false,"default":"G2_omnipicker.json"},{"name":"grpc_host","desc":"gRPC client host","required":false,"default":"localhost:50051"},{"name":"record_dir","desc":"Per-episode artifact output dir","required":false}]
outputs	[{"desc":"Live teleop loop streaming device poses to `/joint_command`; per-episode artifacts under `record_dir` if set"}]

When to Use

• User wants to teleoperate the simulated robot with a VR device (Pico) and optionally record episodes.
• User references geniesim_teleop, teleop.py, or the teleop bridge.

Do not use for:

• Running a benchmark task → run-benchmark.
• Verifying an inference server → check-inference.

Critical Patterns

1. The runtime needs ROS 2 + Isaac Sim on the host. Inside the Genie Sim Docker image (geniesim docker up → geniesim docker into) that's already set up. Outside the container, source your ROS overlay and have Isaac Sim available.
2. A VR device must be reachable. The teleop loop opens a VR server (default port 8080) and waits for the Pico headset to connect.
3. Working directory: anywhere under the repo works — the CLI uses find_spec to locate the geniesim_teleop package.
4. Confirm before launching. Teleop holds a GPU and a live device connection; ask before kicking it off if there's any ambiguity.

Workflow

Step 1 — Collect inputs

Ask via AskUserQuestion (all optional — sensible defaults exist):

• Device type (default pico).
• VR port (default 8080).
• Robot config (default G2_omnipicker.json).
• gRPC client host (default localhost:50051).

Step 2 — Launch the teleop loop

Inside the GUI container (geniesim docker into):

geniesim teleop run --device_type=pico --port=8080

With explicit overrides:

geniesim teleop run \
    --client_host=localhost:50051 \
    --port=8080 \
    --robot_cfg=G2_omnipicker.json \
    --device_type=pico

Step 3 — (optional) Image bridge

If the user needs the in-process image pub/sub bridge:

geniesim teleop bridge --mode inprocess

Commands (copy-paste summary for the user)

# Terminal A — host (start GUI container)
cd /path/to/main
./scripts/start_gui.sh

# Terminal B — host, then container
cd /path/to/main
./scripts/into.sh
# inside container:
geniesim teleop run --device_type=pico --port=8080

Notes

• If geniesim isn't on $PATH, substitute python3 -m geniesim_cli teleop … — same args.
• Any unknown --flag after the subcommand is forwarded verbatim to geniesim_teleop.teleop / geniesim_teleop.bridge.
• Robot init states are loaded from the geniesim_benchmark package when it's installed; if it isn't, teleop still runs (init-state loading is skipped with a warning).