diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py index 18d8ccdf1cb..26c65f34cb7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py @@ -9,6 +9,9 @@ from isaaclab.assets import AssetBaseCfg, RigidObjectCfg from isaaclab.devices.device_base import DevicesCfg from isaaclab.devices.keyboard import Se3KeyboardCfg +from isaaclab.devices.openxr.openxr_device import OpenXRDevice, OpenXRDeviceCfg +from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg +from isaaclab.devices.openxr.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeterCfg from isaaclab.devices.spacemouse import Se3SpaceMouseCfg from isaaclab.envs import ManagerBasedRLEnvCfg from isaaclab.envs.mdp.actions.rmpflow_actions_cfg import RMPFlowActionCfg @@ -335,6 +338,24 @@ def __post_init__(self): rot_sensitivity=0.05, sim_device=self.sim.device, ), + "handtracking": OpenXRDeviceCfg( + retargeters=[ + Se3RelRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, + zero_out_xy_rotation=True, + use_wrist_rotation=False, + use_wrist_position=True, + delta_pos_scale_factor=10.0, + delta_rot_scale_factor=10.0, + sim_device=self.sim.device, + ), + GripperRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device + ), + ], + sim_device=self.sim.device, + xr_cfg=self.xr, + ), } ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py index 6689a9cb154..7e0544947be 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py @@ -9,6 +9,9 @@ from isaaclab.assets import AssetBaseCfg, RigidObjectCfg from isaaclab.devices.device_base import DevicesCfg from isaaclab.devices.keyboard import Se3KeyboardCfg +from isaaclab.devices.openxr.openxr_device import OpenXRDevice, OpenXRDeviceCfg +from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg +from isaaclab.devices.openxr.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeterCfg from isaaclab.devices.spacemouse import Se3SpaceMouseCfg from isaaclab.envs.mdp.actions.rmpflow_actions_cfg import RMPFlowActionCfg from isaaclab.managers import EventTermCfg as EventTerm @@ -271,6 +274,24 @@ def __post_init__(self): rot_sensitivity=0.05, sim_device=self.sim.device, ), + "handtracking": OpenXRDeviceCfg( + retargeters=[ + Se3RelRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, + zero_out_xy_rotation=True, + use_wrist_rotation=False, + use_wrist_position=True, + delta_pos_scale_factor=10.0, + delta_rot_scale_factor=10.0, + sim_device=self.sim.device, + ), + GripperRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device + ), + ], + sim_device=self.sim.device, + xr_cfg=self.xr, + ), } ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py index 7aafc6990f3..6d949e923d7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py @@ -9,6 +9,9 @@ import isaaclab.sim as sim_utils from isaaclab.devices.device_base import DevicesCfg from isaaclab.devices.keyboard import Se3KeyboardCfg +from isaaclab.devices.openxr.openxr_device import OpenXRDevice, OpenXRDeviceCfg +from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg +from isaaclab.devices.openxr.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeterCfg from isaaclab.devices.spacemouse import Se3SpaceMouseCfg from isaaclab.envs.mdp.actions.rmpflow_actions_cfg import RMPFlowActionCfg from isaaclab.sensors import CameraCfg, FrameTransformerCfg @@ -75,6 +78,24 @@ def __post_init__(self): rot_sensitivity=0.05, sim_device=self.sim.device, ), + "handtracking": OpenXRDeviceCfg( + retargeters=[ + Se3RelRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, + zero_out_xy_rotation=True, + use_wrist_rotation=False, + use_wrist_position=True, + delta_pos_scale_factor=10.0, + delta_rot_scale_factor=10.0, + sim_device=self.sim.device, + ), + GripperRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device + ), + ], + sim_device=self.sim.device, + xr_cfg=self.xr, + ), } ) @@ -124,6 +145,24 @@ def __post_init__(self): rot_sensitivity=0.05, sim_device=self.sim.device, ), + "handtracking": OpenXRDeviceCfg( + retargeters=[ + Se3RelRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, + zero_out_xy_rotation=True, + use_wrist_rotation=False, + use_wrist_position=True, + delta_pos_scale_factor=10.0, + delta_rot_scale_factor=10.0, + sim_device=self.sim.device, + ), + GripperRetargeterCfg( + bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device + ), + ], + sim_device=self.sim.device, + xr_cfg=self.xr, + ), } ) @@ -231,7 +270,6 @@ def __post_init__(self): # Set settings for camera rendering self.rerender_on_reset = True - self.sim.render.antialiasing_mode = "OFF" # disable dlss # List of image observations in policy observations self.image_obs_list = ["ego_cam", "left_wrist_cam", "right_wrist_cam"]