Unitree publishes R1-7A teleoperation and data-recording code on GitHub

SUMMARY

Unitree Robotics has added a repository called R1-7A to its GitHub organisation. The project is a Python teleoperation framework for a seven-axis robotic arm, built on PICO and XRoboToolkit. It covers single-arm and dual-arm control, recording from several cameras, and replay of recorded trajectories.

An operator wears a PICO headset and holds its two controllers, which drive the arm or arms and the Dex1 grippers. The framework tracks the relative pose of each controller, and the left and right arms and grippers are controlled independently. The README's hardware list also names a PICO headset running the XRoboToolkit client and a four-channel USB-to-485 module that connects the host computer, arms and grippers. Grippers can be switched off when none is fitted. All modes share one entry point, scripts/teleop.py, with a flag to choose the right arm, the left arm or both.

Adding the record flag stores data in MCAP files: control targets, measured joint states and images from several cameras. A single arm produces 8-dimensional data and a dual-arm setup 16-dimensional data. The repository gives a target rate of 90 Hz for control on the real arm and 30 Hz for image observations. Recorded episodes can be replayed on the real arm, or viewed in MuJoCo simulation, and a mock input mode runs the dual-arm simulation without hardware.

The README lists limits. The base must be fixed and the arm supported before a real start-up, and collision planning for two arms is not currently provided. The repository has no LICENSE file at its root, and third-party dependencies keep the licences of their own projects. The section on training and deployment is empty.

Drafted with AI assistance from the source and reviewed by WBH. Follow the source link for the full text.