| `--frequency` | Set the FPS for recording and control | Any reasonable float value | 30.0 |
| `--input-mode` | Choose XR input mode (how to control the robot) | `hand` (**hand tracking**)`controller` (**controller tracking**) | `hand` |
| `--input-mode` | Choose XR input mode (how to control the robot) | `hand` (hand tracking)`controller` (controller tracking) | `hand` |
| `--display-mode` | Choose XR display mode (how to view the robot perspective) | `immersive` (immersive)`ego` (pass-through + small first-person window)`pass-through` (pass-through only) | `immersive` |
| `--arm` | Select the robot arm type (see 0. 📖 Introduction) | `G1_29``G1_23``H1_2``H1` | `G1_29` |
| `--ee` | Select the end-effector type of the arm (see 0. 📖 Introduction) | `dex1``dex3``inspire_ftp``inspire_dfx``brainco` | None |
| `--arm` | Select the robot arm type (see 0. 📖 Introduction) | `G1_29``G1_23``H1_2``H1` | `G1_29` |
| `--ee` | Select the end-effector type of the arm (see 0. 📖 Introduction) | `dex1``dex3``inspire_ftp``inspire_dfx``brainco` | None |
| `--img-server-ip` | Set the image server IP address for receiving image streams and configuring WebRTC signaling | `IPv4` address | `192.168.123.164` |
| `--motion` | **Enable motion control mode**When enabled, the teleoperation program can run alongside the robot’s motion control program.In **hand tracking** mode, the [R3 controller](https://www.unitree.com/cn/R3) can be used to control normal robot walking; in **controller tracking** mode, joysticks can also control the robot’s movement. |
| `--headless` | **Enable headless mode**For running the program on devices without a display, e.g., the Development Computing Unit (PC2). |
| `--motion` | **Enable motion control mode**When enabled, the teleoperation program can run alongside the robot’s motion control program.In **hand tracking** mode, the [R3 controller](https://www.unitree.com/cn/R3) can be used to control normal robot walking; in **controller tracking** mode, joysticks can also control the robot’s movement. |
| `--headless` | **Enable headless mode**For running the program on devices without a display, e.g., the Development Computing Unit (PC2). |
| `--ipc` | **Inter-process communication mode**Allows controlling the xr_teleoperate program’s state via IPC. Suitable for interaction with agent programs. |
| `--affinity` | **CPU affinity mode**Set CPU core affinity. If you are unsure what this is, do not set it. |
| `--record` | **Enable data recording mode**Press **r** to start teleoperation, then **s** to start recording; press **s** again to stop and save the episode. Press **s** repeatedly to repeat the process. |
| `--ipc` | **Inter-process communication mode**Allows controlling the xr_teleoperate program’s state via IPC. Suitable for interaction with agent programs. |
| `--affinity` | **CPU affinity mode**Set CPU core affinity. If you are unsure what this is, do not set it. |
| `--record` | **Enable data recording mode**Press **r** to start teleoperation, then **s** to start recording; press **s** again to stop and save the episode. Press **s** repeatedly to repeat the process. |
| `--task-*` | Configure the save path, target, description, and steps of the recorded task. |
@ -289,7 +289,13 @@ Next steps:
> **Note 1:** This IP is the address of **PC2**—the machine running teleimager service.
> **Note 2:** You may see a warning page like step 4. Click **Advanced**, then **Proceed to IP (unsafe)**. Once the page loads, press the **start** button in the top-left corner; if you see the head-camera preview, the check is successful.
silencht
4 months ago
GitHub