Add G1-Wuji teleop example

lei.hu · lei.hu · commit 8816f3fc721f · 2026-07-02T15:06:21.000+08:00
Signed-off-by: lei.hu &lt;lei.hu@git.lightwheel.ai&gt;
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -167,6 +167,7 @@ if(BUILD_EXAMPLES)
     add_subdirectory(examples/native_openxr)
     add_subdirectory(examples/mcap_record_replay)
     add_subdirectory(examples/haptic_feedback)
+    add_subdirectory(examples/g1_wuji_teleop)
     if(BUILD_VIZ)
         add_subdirectory(examples/camera_viz/tests)
     endif()
diff --git a/examples/g1_wuji_teleop/CMakeLists.txt b/examples/g1_wuji_teleop/CMakeLists.txt
@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20)
+project(g1_wuji_teleop_example)
+
+include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
+install_python_example(DESTINATION examples/g1_wuji_teleop/python)
+
+install(DIRECTORY config docs assets
+    DESTINATION examples/g1_wuji_teleop
+)
diff --git a/examples/g1_wuji_teleop/README.md b/examples/g1_wuji_teleop/README.md
@@ -0,0 +1,45 @@
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# G1-Wuji Teleop Example
+
+This example runs a G1-Wuji Isaac Lab scene from an OpenXR headset and MANUS
+gloves. Arm end-effector poses come from either AVP hand tracking or VR/PICO
+controllers; finger targets come from MANUS skeletons retargeted with the
+official `wuji-retargeting` package.
+
+## Layout
+
+- `assets/`: G1-Wuji robot USD and Wuji hand assets used by the example.
+- `config/avp_manus.yaml`: AVP hand-wrist arm control with MANUS fingers.
+- `config/vr_manus.yaml`: VR/PICO controller arm control with MANUS fingers.
+- `config/wuji_retargeting/`: Wuji retargeting YAML files for both hands.
+- `docs/setup.md`: host setup and launch runbook.
+- `python/g1_wuji_teleop/`: Python implementation package.
+
+## Run
+
+Install IsaacTeleop, install `wuji-retargeting` into the same Python
+environment, start the CloudXR runtime, and source
+`~/.cloudxr/run/cloudxr.env`. See [docs/setup.md](docs/setup.md) for the full
+runbook.
+
+AVP + MANUS:
+
+```bash
+PYTHONPATH=examples/g1_wuji_teleop/python python -m g1_wuji_teleop \
+    --config examples/g1_wuji_teleop/config/avp_manus.yaml \
+    --device cuda:0 \
+    --viz kit
+```
+
+VR/PICO + MANUS:
+
+```bash
+PYTHONPATH=examples/g1_wuji_teleop/python python -m g1_wuji_teleop \
+    --config examples/g1_wuji_teleop/config/vr_manus.yaml \
+    --device cuda:0 \
+    --viz kit
+```
diff --git a/examples/g1_wuji_teleop/assets/g1_wuji/g1_wuji.usd b/examples/g1_wuji_teleop/assets/g1_wuji/g1_wuji.usd
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diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/cli.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/cli.py
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/config.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/config.py
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/input_stream.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/input_stream.py
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/retargeting.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/retargeting.py
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/robot.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robot.py
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/scene.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/scene.py
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/transforms.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/transforms.py
diff --git a/examples/g1_wuji_teleop/python/pyproject.toml b/examples/g1_wuji_teleop/python/pyproject.toml

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