GR00T Decoupled Wholebody

This section covers the decoupled whole-body control (WBC) workflow in SIMPLE.

• Teleop Setup
  • 🛠 Installation
  • 🥽 VR Teleop Setup
  • 2. Install XRoboToolkit
  • 🕹️ Teleop Tutorial
  • 🎮 Controller Mapping
• Teleoperation
  • Environment variables
  • Example usage
  • Supported decoupled whole-body teleop tasks
• Replay & Render
  • Example usage
  • Post-processing
• Evaluation
  • Server side: model inference
  • Client side: simulation
  • Results and videos