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rwiltz merged 1 commit into from
May 5, 2026
Merged

Updating docs, explicitly call out physicx support and handtracking r… #5494

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8 changes: 8 additions & 0 deletions docs/source/how-to/cloudxr_teleoperation.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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:

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52 changes: 31 additions & 21 deletions docs/source/overview/environments.rst
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Expand Up @@ -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). | |
Expand Down Expand Up @@ -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 | |
Expand Down Expand Up @@ -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``):
Expand Down Expand Up @@ -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
-
Expand All @@ -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
Expand Down
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