diff --git a/docs/source/how-to/cloudxr_teleoperation.rst b/docs/source/how-to/cloudxr_teleoperation.rst index 12be66a2617..3613228d5b7 100644 --- a/docs/source/how-to/cloudxr_teleoperation.rst +++ b/docs/source/how-to/cloudxr_teleoperation.rst @@ -120,6 +120,14 @@ terminal or ``source`` step is needed. Launch a teleoperation script directly: --visualizer kit \ --xr +.. tip:: + + The ``Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0`` task above uses **hand tracking** as its + input mode. Make sure your XR device has hand tracking enabled (optical hand tracking on + Quest 3, or the built-in hand tracking on Apple Vision Pro). Different tasks require + different input modes (motion controllers vs hand tracking) -- see the + :ref:`isaac-teleop-control-schemes` table for the full list. + To switch the CloudXR device profile at launch time (e.g. from Quest to Apple Vision Pro), use the ``--cloudxr_env`` flag: diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index 9b4770e1b07..c1bce52597e 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -148,17 +148,17 @@ for the lift-cube environment: | | | | ``segmentation``, | | | | | ``simple_shading_*`` | +-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+ - | |gr1_pick_place| | |gr1_pick_place-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | | + | |gr1_pick_place| | |gr1_pick_place-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | ``physx`` | +-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+ - | |gr1_pp_waist| | |gr1_pp_waist-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | | + | |gr1_pp_waist| | |gr1_pp_waist-link| | Pick up and place an object in a basket with a GR-1 humanoid robot | ``physx`` | | | | with waist degrees-of-freedom enables that provides a wider reach space. | | +-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+ - | |g1_pick_place| | |g1_pick_place-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | | + | |g1_pick_place| | |g1_pick_place-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | ``physx`` | +-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+ - | |g1_pick_place_fixed| | |g1_pick_place_fixed-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | | + | |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`` | | | | with three-fingered hands. Robot is set up with the base fixed in place. | | +-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+ - | |g1_pick_place_lm| | |g1_pick_place_lm-link| | Pick up and place an object in a basket with a Unitree G1 humanoid robot | | + | |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`` | | | | with three-fingered hands and in-place locomanipulation capabilities | | | | | enabled (i.e. Robot lower body balances in-place while upper body is | | | | | controlled via Inverse Kinematics). | | @@ -189,7 +189,7 @@ for the lift-cube environment: | | | | ``simple_shading_*`` | | | | | ``{64,128,256}`` | +-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+ - | |galbot_stack| | |galbot_stack-link| | Stack three cubes (bottom to top: blue, red, green) with the left arm of | | + | |galbot_stack| | |galbot_stack-link| | Stack three cubes (bottom to top: blue, red, green) with the left arm of | ``physx`` | | | | a Galbot humanoid robot | | +-------------------------+------------------------------+-----------------------------------------------------------------------------+------------------------------+ | |agibot_place_mug| | |agibot_place_mug-link| | Pick up and place a mug upright with a Agibot A2D humanoid robot | | @@ -1108,6 +1108,11 @@ inferencing, including reading from an already trained checkpoint and disabling - Manager Based - - + * - Isaac-Stack-Cube-Franka-IK-Abs-v0 + - + - Manager Based + - + - ``physx`` * - Isaac-Dexsuite-Kuka-Allegro-Lift-v0 Camera variants (requires ``--enable_cameras``): @@ -1156,38 +1161,43 @@ inferencing, including reading from an already trained checkpoint and disabling - - Manager Based - - - - * - Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 + - ``physx`` + * - Isaac-PickPlace-GR1T2-Abs-v0 - - Manager Based - - - - * - Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0 + - ``physx`` + * - Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 - - Manager Based - - - - * - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 + - ``physx`` + * - Isaac-NutPour-GR1T2-Pink-IK-Abs-v0 - - Manager Based - - - - * - Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-v0 + - ``physx`` + * - Isaac-ExhaustPipe-GR1T2-Pink-IK-Abs-v0 - - Manager Based - + - ``physx`` + * - Isaac-PickPlace-Locomanipulation-G1-Abs-v0 - - * - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0 - - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Play-v0 - Manager Based - + - ``physx`` + * - Isaac-PickPlace-FixedBaseUpperBodyIK-G1-Abs-v0 - - * - Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 + - Manager Based + - + - ``physx`` + * - Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 - - Manager Based - - - * - Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 + * - Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0 - - Manager Based - @@ -1196,17 +1206,17 @@ inferencing, including reading from an already trained checkpoint and disabling - - Manager Based - - - + - ``physx`` * - Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-v0 - - Manager Based - - - + - ``physx`` * - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0 - Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Play-v0 - Manager Based - - - + - ``physx`` * - Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 - - Manager Based