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Adds handtracking teleop device for galbot left arm stack cube task #3555

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Adds handtracking teleop device for galbot left arm stack cube task #3555

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01347d5
adds handtracking teleop device for galbot stack cube task
rebeccazhang0707 Sep 25, 2025
f241929
adds handtracking teleop device to galbot and agibot tasks
rebeccazhang0707 Sep 26, 2025
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21 changes: 21 additions & 0 deletions ...lab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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,
),
}
)

Expand Down
21 changes: 21 additions & 0 deletions ...tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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,
),
}
)

Expand Down
40 changes: 39 additions & 1 deletion ...ks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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,
),
}
)

Expand Down Expand Up @@ -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,
),
}
)

Expand Down Expand Up @@ -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"]
Expand Down
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