OpenXR handtracking support for Isaac Lab#448
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Ashok93 wants to merge 8 commits intointrinsic-dev:mainfrom
Open
OpenXR handtracking support for Isaac Lab#448Ashok93 wants to merge 8 commits intointrinsic-dev:mainfrom
Ashok93 wants to merge 8 commits intointrinsic-dev:mainfrom
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Add XR configuration and handtracking device to the AIC task environment, enabling VR teleoperation via OpenXR/SteamVR alongside the existing keyboard, spacemouse, and gamepad devices.
Isaac Lab's remove_camera_configs() expects observation attributes named *_camera, but AIC uses *_rgb. Fall back to AIC naming on AttributeError.
Hand-tracking devices do not emit START/STOP/RESET messages, so XR sessions need terminal hotkeys (s/p/r/q) as a control channel. Adds xr_utils module with stdin reader and camera removal that handles AIC observation naming. Only active when --teleop_device handtracking.
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Summary
Adds OpenXR hand-tracking teleop support for the AIC environment for Isaac, alongside the existing keyboard, spacemouse, and gamepad devices.
What's included
XrCfgandOpenXRDeviceCfgwithSe3RelRetargeteradded to the environment configxr_utils.py— shared helpers for XR sessions (camera removal, robot base-frame alignment, stdin reader)teleop.pyandrecord_demos.py(only active when--teleop_device handtracking)Hacky bit — terminal hotkeys
Added a stdin reader thread that listens for single-key hotkeys (
s/p/r/q) when XR is active. It works, but it's not the cleanest solution — ideally the OpenXR device itself would emit these via controller buttons or hand gestures. Open to better approaches here.Setup
Requires
XR_RUNTIME_JSONenvironment variable pointing to your SteamVR runtime JSON before launching:export XR_RUNTIME_JSON=/home/user/.steam/debian-installation/steamapps/common/SteamVR/steamxr_linux64.jsonisaaclab -p aic/aic_utils/aic_isaac/aic_isaaclab/scripts/teleop.py \ --task AIC-Task-v0 --num_envs 1 --teleop_device handtrackingFigured this might be useful for anyone looking to do VR teleop data collection with the AIC environment.