| 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
- 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.
- A VR device must be reachable. The teleop loop opens a VR server
(default port
8080) and waits for the Pico headset to connect.
- Working directory: anywhere under the repo works — the CLI uses
find_spec to locate the geniesim_teleop package.
- 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)
/path/to/main
./scripts/start_gui.sh
/path/to/main
./scripts/into.sh
geniesim teleop run --device_type=pico --port=8080
