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Updating docs, explicitly call out physicx support and handtracking requirment for teleop envs
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‎docs/source/how-to/cloudxr_teleoperation.rst‎

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@@ -120,6 +120,14 @@ terminal or ``source`` step is needed. Launch a teleoperation script directly:
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--visualizer kit \
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--xr
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.. tip::
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The ``Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0`` task above uses **hand tracking** as its
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input mode. Make sure your XR device has hand tracking enabled (optical hand tracking on
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Quest 3, or the built-in hand tracking on Apple Vision Pro). Different tasks require
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different input modes (motion controllers vs hand tracking) -- see the
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:ref:`isaac-teleop-control-schemes` table for the full list.
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To switch the CloudXR device profile at launch time (e.g. from Quest to Apple Vision Pro),
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use the ``--cloudxr_env`` flag:
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‎docs/source/overview/environments.rst‎

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@@ -148,17 +148,17 @@ for the lift-cube environment:
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| | | | ``segmentation``, |
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| | | | ``simple_shading_*`` |
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+-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+
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| |gr1_pick_place| | |gr1_pick_place-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | |
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| |gr1_pick_place| | |gr1_pick_place-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | ``physx`` |
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+-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+
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| |gr1_pp_waist| | |gr1_pp_waist-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | |
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| |gr1_pp_waist| | |gr1_pp_waist-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | ``physx`` |
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| | | with waist degrees-of-freedom enables that provides a wider reach space. | |
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+-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+
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| |g1_pick_place| | |g1_pick_place-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | |
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| |g1_pick_place| | |g1_pick_place-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | ``physx`` |
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+-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+
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| |g1_pick_place_fixed| | |g1_pick_place_fixed-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | |
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| |g1_pick_place_fixed| | |g1_pick_place_fixed-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | ``physx`` |
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| | | with three-fingered hands. Robot is set up with the base fixed in place. | |
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+-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+
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| |g1_pick_place_lm| | |g1_pick_place_lm-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | |
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| |g1_pick_place_lm| | |g1_pick_place_lm-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | ``physx`` |
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| | | with three-fingered hands and in-place locomanipulation capabilities | |
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| | | enabled (i.e. Robot lower body balances in-place while upper body is | |
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| | | controlled via Inverse Kinematics). | |
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| | | | ``simple_shading_*`` |
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| | | | ``{64,128,256}`` |
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+-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+
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| |galbot_stack| | |galbot_stack-link| | Stack three cubes (bottom to top: blue, red, green) with the left arm of | |
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| |galbot_stack| | |galbot_stack-link| | Stack three cubes (bottom to top: blue, red, green) with the left arm of | ``physx`` |
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| | | a Galbot humanoid robot | |
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+-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+
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| |agibot_place_mug| | |agibot_place_mug-link| | Pick up and place a mug upright with a Agibot A2D humanoid robot | |
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- Manager Based
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-
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-
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* - Isaac-Stack-Cube-Franka-IK-Abs-v0
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-
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- Manager Based
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-
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- ``physx``
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* - Isaac-Dexsuite-Kuka-Allegro-Lift-v0
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Camera variants (requires ``--enable_cameras``):
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- Manager Based
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-
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* - Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0
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- ``physx``
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* - Isaac-PickPlace-GR1T2-Abs-v0
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- Manager Based
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* - Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0
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- ``physx``
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* - Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0
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* - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0
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- ``physx``
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* - Isaac-NutPour-GR1T2-Pink-IK-Abs-v0
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* - Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-v0
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- ``physx``
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* - Isaac-ExhaustPipe-GR1T2-Pink-IK-Abs-v0
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- ``physx``
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* - Isaac-PickPlace-Locomanipulation-G1-Abs-v0
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* - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0
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- Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Play-v0
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- ``physx``
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* - Isaac-PickPlace-FixedBaseUpperBodyIK-G1-Abs-v0
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* - Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0
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* - Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0
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* - Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0
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* - Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0
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* - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0
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* - Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0
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