Teleop equipment difference

[xiefujing]

The paper uses 2 ankle trackers + 2 wrist trackers + 1 waist tracker + 2 Manus gloves + a Pico headset, but the code uses a Pico headset + Pico hand optical tracking + a G1 remote control. What is the reason for this discrepancy?

[Jinghy123]

Hi @xiefujing , The open-source code uses the cheapest and most accessible setup, since many people wanted an easier way to reproduce the system. The Manus gloves and multi-tracker setup can have version compatibility issues across different devices. Also, better whole-body control methods such as Sonic were released later, and we added compatibility with them, so you can try that setup as well.

Best,
Hongyi