DEEPRobotics Teleoperate

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DEEPRobotics Teleoperate provides the ROS 2 package required for DR02 Pro Pico upper-body teleoperation. It receives headset and controller data through XRoboToolkit, calculates waist and dual-arm targets, and publishes complete 31-DoF joint commands to a real DR02 Pro robot or a MuJoCo simulation.

System Overview

Pico XRoboToolkit
        │ headset and controller data
        ▼
Robotics Service ── PXREA ──► dr02_tele/state_machine
                                      ▲            │
                         /JOINTS_DATA │            │ /JOINTS_CMD
                                      │            ▼
                              DR02 Pro robot or MuJoCo simulator

Repository Layout

src/common/          Shared C++ types and utilities
src/dr02_pro/        DR02 Pro teleoperation package and documentation
third_party/         Bundled x86/ARM XR, IK, and support dependencies
deep_robotics_model/ Pinned DR02 Pro models (Git submodule)

Clone the Repository

Initialize the model submodule when cloning this repository:

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

If the repository was already obtained with a regular git clone, run the following command from its root:

git submodule update --init --recursive

Note

GitHub Download ZIP does not initialize submodules. Use the Git clone workflow above when preparing a complete runtime environment.

Start Here

Read the DR02 Pro Pico Teleoperation Guide, then choose the real-robot or simulation workflow for your target. Never use the simulation build configuration to control a real robot.

Related Repositories

• deep-robotics-msg: ROS 2 message interface library. Its package name is drdds.
• deep_robotics_model: DR02 Pro URDF and mesh assets used by teleoperation IK. This repository pins its verified version as a submodule.
• deep-robotics-simulation: MuJoCo simulation environment. The simulator is not included in this repository.

Warning

Real-robot teleoperation directly publishes motion commands. Read the real-robot safety requirements before connecting this package to a robot.