Scripts to start VR with Isaac Sim

Author: Dozgulbas

scripts/isaacsim/launch_alvr.sh

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+#!/bin/bash
+# launch_alvr.sh — Start ALVR + SteamVR only (without Isaac Sim)
+# Useful for testing VR connection before launching the full sim
+
+ALVR_DASHBOARD=/home/vision/alvr/alvr_streamer_linux/bin/alvr_dashboard
+
+echo "=== Starting ALVR + SteamVR ==="
+
+# Start ALVR
+if pgrep -f "alvr_dashboard" > /dev/null; then
+    echo "ALVR dashboard already running."
+else
+    $ALVR_DASHBOARD &
+    sleep 2
+    echo "ALVR dashboard started."
+fi
+
+# Start SteamVR
+if pgrep -f "vrmonitor" > /dev/null; then
+    echo "SteamVR already running."
+else
+    steam steam://run/250820 &
+    echo "SteamVR starting..."
+fi
+
+echo ""
+echo "On your Quest 2:"
+echo "  1. Open App Library -> Unknown Sources -> ALVR"
+echo "  2. Launch ALVR"
+echo "  3. In the ALVR dashboard, click Trust next to your device"

scripts/isaacsim/launch_isaacsim.sh

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+#!/bin/bash
+# launch_isaacsim.sh — Launch Isaac Sim with OpenArm (no VR)
+# Usage: ./launch_isaacsim.sh [--vr] [--headless]
+
+ISAAC_ENV=/home/vision/workspace/simlab/activate-isaacsim.sh
+OPENARM_SIM=/home/vision/humanoids/openarm_module/scripts/isaacsim/openarm_sim.py
+VR_KIT=/home/vision/workspace/simlab/.venv-isaacsim/lib/python3.11/site-packages/isaacsim/apps/isaacsim.exp.base.xr.vr.kit
+
+VR=false
+HEADLESS=false
+
+for arg in "$@"; do
+    case $arg in
+        --vr) VR=true ;;
+        --headless) HEADLESS=true ;;
+    esac
+done
+
+source $ISAAC_ENV
+
+if [ "$HEADLESS" = true ]; then
+    echo "Launching Isaac Sim headless..."
+    python $OPENARM_SIM --headless
+elif [ "$VR" = true ]; then
+    echo "Launching Isaac Sim in VR mode..."
+    echo "Make sure SteamVR and ALVR are running first (run launch_alvr.sh)"
+    isaacsim --experience $VR_KIT
+else
+    echo "Launching Isaac Sim with OpenArm..."
+    python $OPENARM_SIM
+fi

scripts/isaacsim/launch_vr.sh

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+#!/bin/bash
+# launch_vr.sh — Full VR teleoperation session launcher for OpenArm Isaac Sim
+# Usage: ./launch_vr.sh [--headless] [--no-robot]
+
+
+ISAAC_ENV=/home/vision/workspace/simlab/activate-isaacsim.sh
+ALVR_DASHBOARD=/home/vision/alvr/alvr_streamer_linux/bin/alvr_dashboard
+OPENARM_SIM=/home/vision/humanoids/openarm_module/scripts/isaacsim/openarm_sim.py
+VR_KIT=/home/vision/workspace/simlab/.venv-isaacsim/lib/python3.11/site-packages/isaacsim/apps/isaacsim.exp.base.xr.vr.kit
+
+HEADLESS=false
+NO_ROBOT=false
+
+for arg in "$@"; do
+    case $arg in
+        --headless) HEADLESS=true ;;
+        --no-robot) NO_ROBOT=true ;;
+    esac
+done
+
+echo "=== OpenArm VR Launcher ==="
+
+# Step 1: Check ADB / Quest 2 connection
+echo "[1/4] Checking Quest 2 connection..."
+DEVICES=$(adb devices | grep -v "List of devices" | grep "device$")
+if [ -z "$DEVICES" ]; then
+    echo "    WARNING: Quest 2 not detected via ADB."
+    echo "    Make sure USB cable is connected and USB debugging is accepted in the headset."
+else
+    echo "    Quest 2 detected: $DEVICES"
+fi
+
+# Step 2: Start ALVR dashboard (background)
+echo "[2/4] Starting ALVR dashboard..."
+if pgrep -f "alvr_dashboard" > /dev/null; then
+    echo "    ALVR dashboard already running."
+else
+    $ALVR_DASHBOARD &
+    sleep 2
+    echo "    ALVR dashboard started."
+fi
+
+# Step 3: Start SteamVR (background)
+echo "[3/4] Starting SteamVR..."
+if pgrep -f "vrmonitor" > /dev/null; then
+    echo "    SteamVR already running."
+else
+    steam steam://run/250820 &
+    echo "    Waiting for SteamVR to start..."
+    sleep 5
+    echo "    SteamVR started."
+fi
+
+echo ""
+echo "    --> Put on your Quest 2 and launch ALVR from App Library > Unknown Sources"
+echo "    --> Wait for the SteamVR environment to appear in the headset"
+echo ""
+read -p "Press ENTER when Quest 2 is connected to SteamVR..."
+
+# Step 4: Launch Isaac Sim
+echo "[4/4] Launching Isaac Sim..."
+source $ISAAC_ENV
+
+if [ "$HEADLESS" = true ]; then
+    echo "    Launching in headless mode..."
+    python $OPENARM_SIM --headless
+elif [ "$NO_ROBOT" = true ]; then
+    echo "    Launching Isaac Sim VR (no robot)..."
+    isaacsim --experience $VR_KIT
+else
+    echo "    Launching Isaac Sim VR with OpenArm..."
+    python $OPENARM_SIM
+fi