Draft
Conversation
pip install not working due to OS version requiring managed environment requiring apt install for system packages
Signed-off-by: Bin Liu (SW-GPU) <binliu@nvidia.com>
Signed-off-by: Bin Liu (SW-GPU) <binliu@nvidia.com>
- Remove old isaaclab_arena/teleop_devices/motion_controllers.py - Add MotionControllersCfg device to device_library.py - Add G1WbcPinkMotionControllersRetargeter to retargeter_library.py - Update asset_registry to handle list of retargeters (needed for motion controllers which require 2 retargeters) - Motion controllers now follow the same pattern as other teleop devices
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Support Quest3 for loco-manipulation teleop and record/replay
Follow this doc for setup: https://docs.google.com/document/d/1TpQvk58eyoMItt3giJmWMVsHw2D4t98RIjXiK4VwOPk/edit?tab=t.812ckr3dxobh
python isaaclab_arena/scripts/imitation_learning/teleop.py --xr --enable_pinocchio --num_env 1 galileo_g1_locomanip_pick_and_place --teleop_device motion_controllers --embodiment g1_wbc_pink
python isaaclab_arena/scripts/imitation_learning/record_demos.py
--xr
--enable_pinocchio
--dataset_file $DATASET_DIR/g1_locomanip_demos.hdf5
--num_demos 10
--num_success_steps 10
galileo_g1_locomanip_pick_and_place
--teleop_device motion_controllers
--embodiment g1_wbc_pink
python isaaclab_arena/scripts/imitation_learning/replay_demos.py
--enable_pinocchio
--num_env 1
--dataset_file $DATASET_DIR/g1_locomanip_demos.hdf5
galileo_g1_locomanip_pick_and_place
--embodiment g1_wbc_pink
Detailed description
We like to support Quest3 for loco-manipulation teleop such as the g1_pink example
IsaacLab/IssacSim version updated