DRAFT: Support Quest teleop #350
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pip install not working due to OS version requiring managed environment requiring apt install for system packages
Signed-off-by: Bin Liu (SW-GPU) <binliu@nvidia.com>
Signed-off-by: Bin Liu (SW-GPU) <binliu@nvidia.com>
- Remove old isaaclab_arena/teleop_devices/motion_controllers.py - Add MotionControllersCfg device to device_library.py - Add G1WbcPinkMotionControllersRetargeter to retargeter_library.py - Update asset_registry to handle list of retargeters (needed for motion controllers which require 2 retargeters) - Motion controllers now follow the same pattern as other teleop devices
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Summary
Support Quest3 for loco-manipulation teleop and record/replay
Follow this doc for setup: https://docs.google.com/document/d/1TpQvk58eyoMItt3giJmWMVsHw2D4t98RIjXiK4VwOPk/edit?tab=t.812ckr3dxobh
python isaaclab_arena/scripts/imitation_learning/teleop.py --xr --enable_pinocchio --num_env 1 galileo_g1_locomanip_pick_and_place --teleop_device motion_controllers --embodiment g1_wbc_pink
python isaaclab_arena/scripts/imitation_learning/record_demos.py
--xr
--enable_pinocchio
--dataset_file $DATASET_DIR/g1_locomanip_demos.hdf5
--num_demos 10
--num_success_steps 10
galileo_g1_locomanip_pick_and_place
--teleop_device motion_controllers
--embodiment g1_wbc_pink
python isaaclab_arena/scripts/imitation_learning/replay_demos.py
--enable_pinocchio
--num_env 1
--dataset_file $DATASET_DIR/g1_locomanip_demos.hdf5
galileo_g1_locomanip_pick_and_place
--embodiment g1_wbc_pink
Detailed description
We like to support Quest3 for loco-manipulation teleop such as the g1_pink example
IsaacLab/IssacSim version updated