DEEPRobotics Teleoperate

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DEEPRobotics Teleoperate is a ROS 2 teleoperation project for the DR02 Pro humanoid robot. It converts PICO headset and controller input into waist and dual-arm commands for either a real robot or a MuJoCo simulation. A runtime option enables supported end effectors, and real-robot data collection can record either arms only or arms plus the selected end effector.

System Overview

PICO + XRoboToolkit ──► Robotics Service / PXREA ──► state_machine
                                                        │
                    /JOINTS_DATA ◄── DR02 Pro / MuJoCo ─┤─► /JOINTS_CMD
        optional end-effector feedback ◄────────────────└─► optional end-effector command

Get the Source

Clone with submodules to include the verified DR02 Pro model:

git clone --recurse-submodules \
  https://github.com/DeepRoboticsLab/deep-robotics-teleoperate.git

For an existing clone:

git submodule update --init --recursive

Start Here

Read the DR02 Pro Pico Teleoperation Guide, then choose the simulation or real-robot workflow. The simulator and ROS 2 message interfaces are provided by separate repositories. Never use a simulation build to control a real robot.

Related Repositories

• deep-robotics-msg: ROS 2 message interfaces provided through the drdds package.
• deep_robotics_model: the pinned DR02 Pro URDF and mesh assets used by teleoperation IK.
• deep-robotics-simulation: the separately maintained MuJoCo simulation environment.

Warning

This software publishes motion commands directly. Emergency is a software pose hold, not a hardware emergency stop. Validate in simulation first and keep a physical emergency stop immediately accessible on the real robot.