Unitree XR Teleoperate — Windows WSL2 Setup

Control a Unitree G1 / H1 humanoid robot in a MuJoCo physics simulation using a Meta Quest 2 VR headset. Move your hands — the robot mirrors you in real time.

Built on top of unitree_mujoco, xr_teleoperate, televuer, and unitree_sdk2.

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How it works

Quest 2 (hand tracking via WebXR)
    │  WiFi → HTTPS/WebRTC
    ▼
televuer  ──►  xr_teleoperate (IK solver)  ──►  unitree_mujoco (physics sim)
               pinocchio + CasADi                 G1 robot moves

1. televuer — serves a WebXR page to the Quest 2 browser, streams 6DoF hand poses back over WebRTC
2. xr_teleoperate — solves inverse kinematics (CasADi + IPOPT) at 30 Hz to convert hand poses into 14 arm joint angles
3. unitree_sdk2 — DDS communication layer between control node and simulator
4. unitree_mujoco — C++ real-time physics simulation of the G1 robot

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Requirements

• Windows 11 (build 22000+)
• Meta Quest 2 on the same local WiFi as your PC
• ~15 GB free disk space

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Setup

All bash scripts run inside Ubuntu WSL2. The PowerShell script runs in Windows PowerShell (Admin).

Replace <YOUR_USERNAME> with your Windows username in paths where shown.

Step 1 — Configure WSL2 (PowerShell as Administrator)

Set-ExecutionPolicy -Scope Process Bypass
& "C:\Users\<YOUR_USERNAME>\Downloads\Xr_quest2_Unitree\setup\1_setup_wsl2.ps1"

Opens WSL2 with mirrored networking (Quest 2 can reach WSL2 directly) and opens firewall port 8012.

Step 2 — Install system dependencies (Ubuntu)

bash /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/setup/2_install_deps.sh

Installs build tools, C++ libraries, OpenSSL, and Miniconda.

Step 3 — Clone all repositories (Ubuntu)

bash /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/setup/3_clone_repos.sh

Clones unitree_sdk2, unitree_mujoco, televuer, and xr_teleoperate into ~/unitree_teleop/.

Step 4 — Build C++ simulator (Ubuntu, ~10 min)

bash /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/setup/4_build_cpp.sh

Downloads MuJoCo 3.3.6, builds unitree_sdk2 and the unitree_mujoco C++ simulator.

Step 5 — Set up Python environment (Ubuntu, ~5 min)

source ~/miniconda3/etc/profile.d/conda.sh
bash /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/setup/5_setup_python_env.sh

Creates a unitree_xr conda environment (Python 3.10) and installs all Python dependencies.

Step 6 — Generate SSL certificates (Ubuntu)

bash /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/setup/6_generate_ssl.sh

Generates self-signed SSL certs (required for Quest 2 WebXR). Prints your PC's IP and the URL to open on the Quest 2.

Step 7 — Install CA certificate on Quest 2

1. Copy the CA cert to Windows:

   cp ~/.config/televuer/certs/ca.crt /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/unitree_xr_ca.crt

2. Serve it temporarily:

   python3 -m http.server 8080 --directory /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/

3. On the Quest 2 browser, go to http://<YOUR_PC_IP>:8080/unitree_xr_ca.crt and install it.

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Running

Open two Ubuntu terminals.

Terminal 1 — Physics simulator:

bash /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/scripts/launch_sim.sh g1

Terminal 2 — Teleoperation node:

bash /mnt/c/Users/<YOUR_USERNAME>/Downloads/Xr_quest2_Unitree/scripts/launch_teleop.sh

Quest 2: Open Meta Quest Browser → https://<YOUR_PC_IP>:8012 → click Enter VR.

Once in VR, press r in Terminal 2 to start tracking.

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Launch options

# launch_sim.sh
bash scripts/launch_sim.sh g1     # G1 humanoid (default)
bash scripts/launch_sim.sh h1     # H1 humanoid
bash scripts/launch_sim.sh go2    # Go2 quadruped

# launch_teleop.sh
bash scripts/launch_teleop.sh                                          # defaults
bash scripts/launch_teleop.sh --robot h1 --arm H1_2 --ee none --mode ego

Argument	Options	Default
--robot	g1, h1	g1
--arm	G1_29, G1_23, H1_2, H1	G1_29
--ee	dex3, dex1, none	dex3
--mode	immersive, pass-through, ego	immersive

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Controls (once tracking starts)

Input	Action
Move hands in space	Robot arms follow
Pinch (index + thumb)	Close dexterous hand
Keyboard r	Start tracking
Keyboard q	Stop and exit
Keyboard s	Toggle data recording

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Project structure

Xr_quest2_Unitree/
├── setup/
│   ├── 1_setup_wsl2.ps1          # WSL2 + networking (PowerShell, Admin)
│   ├── 2_install_deps.sh         # apt packages + Miniconda
│   ├── 3_clone_repos.sh          # clone all 4 repos
│   ├── 4_build_cpp.sh            # build unitree_sdk2 + unitree_mujoco
│   ├── 5_setup_python_env.sh     # conda env + Python packages
│   └── 6_generate_ssl.sh         # SSL certs for Quest 2 HTTPS
├── scripts/
│   ├── launch_sim.sh             # launch MuJoCo simulator
│   └── launch_teleop.sh          # launch teleoperation node
└── docs/
    └── architecture.md           # detailed system architecture

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Troubleshooting

WSL window closes immediately — Open Windows Terminal → Ubuntu tab to complete initial username/password setup.

conda: command not found — Run source ~/miniconda3/etc/profile.d/conda.sh first.

CMake can't find MuJoCo headers — Ensure the symlink exists:

ln -sfn ~/.mujoco/mujoco-3.3.6 ~/unitree_teleop/unitree_mujoco/simulate/mujoco

Quest 2 browser shows security warning — CA cert not installed on Quest 2. Repeat Step 7.

Robot doesn't move after pressing r — Check DDS domain ID matches between simulator and teleop node (both default to 0 for simulation).

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References

• xr_teleoperate
• unitree_mujoco
• unitree_sdk2
• televuer
• MuJoCo
• pinocchio