A digital twin modeling method to assemble a robotic teleoperation environment, including: capturing images of the teleoperation environment; identifying a part being assembled; querying the assembly assembling order to obtain a list of assembled parts according to the part being assembled; generating a three-dimensional model of the current assembly from the list and calculating position pose information of the current assembly in an image acquisition device coordinate system; loading a three-dimensional model of the robot, determining a coordinate transformation relationship between a robot coordinate system and an image acquisition device coordinate system; determining position pose information of the robot in an image acquisition device coordinate system from the coordinate transformation relationship; determining a relative positional relationship between the current assembly and the robot from position pose information of the current assembly and the robot in an image acquisition device coordinate system; establishing a digital twin model of the teleoperation environment.