simulation/modules/IsaacLab/docs/source/features/isaac_teleop.rst

.. _isaac-teleop-feature:

Isaac Teleop
============

.. currentmodule:: isaaclab

`Isaac Teleop <https://github.com/NVIDIA/IsaacTeleop>`_ is the unified framework for high-fidelity
egocentric and robot data collection. It provides a standardized device interface, a flexible
graph-based retargeting pipeline, and works seamlessly across simulated and real-world robots.

Isaac Teleop replaces the previous native XR teleop stack (``isaaclab.devices.openxr``) in Isaac
Lab. For migration details see :ref:`migrating-to-isaaclab-3-0`.

.. tip::

   **Just want to get running?** Follow the :ref:`cloudxr-teleoperation` how-to guide for
   installation and first-run steps, then come back here for deeper topics.


.. _isaac-teleop-supported-devices:

Supported Devices
-----------------

Isaac Teleop supports multiple XR headsets and tracking peripherals. Each device provides different
input modes, which determine which retargeters and control schemes are available.

.. list-table::
   :header-rows: 1
   :widths: 20 25 25 30

   * - Device
     - Input Modes
     - Client / Connection
     - Notes
   * - Apple Vision Pro
     - Hand tracking (26 joints), spatial controllers
     - Native visionOS app (`Isaac XR Teleop Sample Client`_)
     - Build from source; see :ref:`build-apple-vision-pro`
   * - Meta Quest 3
     - Motion controllers (triggers, thumbsticks, squeeze), hand tracking
     - CloudXR.js WebXR client (browser)
     - `CloudXR client <https://nvidia.github.io/IsaacTeleop/client/release-1.3.x>`__; see :ref:`connection guide <connect-quest-pico>`
   * - Pico 4 Ultra
     - Motion controllers, hand tracking
     - CloudXR.js WebXR client (browser)
     - Requires Pico OS 15.4.4U+; must use HTTPS mode
   * - Manus Gloves
     - High-fidelity finger tracking (Manus SDK)
     - Isaac Teleop plugin (bundled)
     - Migrated from the now-deprecated ``isaac-teleop-device-plugins`` repo.
       Combine with an external wrist-tracking source for wrist positioning. See :ref:`manus-vive-handtracking`.


.. _isaac-teleop-control-schemes:

Choose a Control Scheme
-----------------------

The right combination of input device and retargeters depends on your task. Use this table as a
starting point, then see the detailed pipeline examples below.

.. list-table::
   :header-rows: 1
   :widths: 22 18 30 10 20

   * - Task Type
     - Recommended Input
     - Retargeters
     - Action Dim
     - Reference Config
   * - Manipulation (e.g. Franka)
     - Motion controllers
     - ``Se3AbsRetargeter`` + ``GripperRetargeter``
     - 8
     - ``stack_ik_abs_env_cfg.py``
   * - Bimanual dex + locomotion (e.g. G1 TriHand)
     - Motion controllers
     - Bimanual ``Se3AbsRetargeter`` + ``TriHandMotionControllerRetargeter`` + ``LocomotionRootCmdRetargeter``
     - 32
     - ``locomanipulation_g1_env_cfg.py``
   * - Bimanual dex, fixed base (e.g. G1)
     - Motion controllers
     - Bimanual ``Se3AbsRetargeter`` + ``TriHandMotionControllerRetargeter``
     - 28
     - ``fixed_base_upper_body_ik_g1_env_cfg.py``
   * - Complex dex hand (e.g. GR1T2, G1 Inspire)
     - Hand tracking / Manus gloves
     - Bimanual ``Se3AbsRetargeter`` + ``DexBiManualRetargeter``
     - 36+
     - ``pickplace_gr1t2_env_cfg.py``

**Why motion controllers for manipulation?** Controllers provide precise spatial control via a grip
pose and a physical trigger for gripper actuation, making them ideal for pick-and-place tasks.

**Why hand tracking for complex dex hands?** Hand tracking captures the full 26-joint hand pose
required for high-fidelity dexterous retargeting. This is essential when individual finger control
matters.


.. _isaac-teleop-architecture:

How It Works
------------

The :class:`~isaaclab_teleop.IsaacTeleopDevice` is the main integration point between Isaac Teleop
and Isaac Lab. It composes three collaborators:

* **XrAnchorManager** -- creates and synchronizes an XR anchor prim in the simulation, and
  computes the ``world_T_anchor`` transform matrix that maps XR tracking data into the simulation
  coordinate frame.

* **TeleopSessionLifecycle** -- builds the retargeting pipeline, acquires OpenXR handles from
  Isaac Sim's XR bridge, creates the ``TeleopSession``, and steps it each frame to produce an
  action tensor.

* **CommandHandler** -- lightweight callback registry for START / STOP / RESET commands.  Scripts
  can register callbacks via :meth:`~isaaclab_teleop.IsaacTeleopDevice.add_callback`, but the
  primary control path uses :func:`~isaaclab_teleop.poll_control_events` (see
  :ref:`isaac-teleop-control-states`).

.. dropdown:: Session lifecycle details

   The session uses **deferred creation**: if the user has not yet clicked "Start XR" in the Isaac
   Sim UI, the session is not created immediately. Instead, each call to ``advance()`` retries
   session creation until OpenXR handles become available. Once connected, ``advance()`` returns a
   flattened action tensor (``torch.Tensor``) on the configured device. It returns ``None`` when
   the session is not yet ready or has been torn down.


.. _isaac-teleop-control-states:

Teleop Control States (Start / Stop / Reset)
---------------------------------------------

Isaac Lab supports remote teleop control commands -- **start**, **stop**, and **reset** -- sent
from the XR headset to the simulation.  These are used to begin and end demonstration recording,
pause the robot, or reset the environment without touching the simulation host.

How it works
~~~~~~~~~~~~

By default, every :class:`~isaaclab_teleop.IsaacTeleopCfg` enables a control message channel
using the well-known UUID ``uuid5(NAMESPACE_DNS, "teleop_command")``.  The channel is created as
a ``teleop_control_pipeline`` inside TeleopCore's :class:`TeleopSession`, which means:

1. A :class:`~isaacteleop.retargeting_engine.deviceio_source_nodes.MessageChannelSource` opens an
   OpenXR opaque data channel (``XR_NV_opaque_data_channel``) with the agreed-upon UUID.
2. The CloudXR JS client (or any other client) discovers the channel by UUID and sends UTF-8
   JSON commands::

       {"type": "teleop_command", "message": {"command": "start teleop"}}
       {"type": "teleop_command", "message": {"command": "stop teleop"}}
       {"type": "teleop_command", "message": {"command": "reset teleop"}}

3. A :class:`~isaaclab_teleop.teleop_message_processor.TeleopMessageProcessor` parses these
   payloads and produces boolean pulse signals (``run_toggle``, ``kill``, ``reset``).
4. :class:`~isaacteleop.teleop_session_manager.DefaultTeleopStateManager` consumes the
   boolean signals, runs its state machine (edge detection, fail-safe), and produces
   ``teleop_state`` (one-hot) and ``reset_event`` (bool pulse) outputs.
5. TeleopCore decodes these outputs into ``ExecutionEvents`` and injects them into every
   retargeter's ``ComputeContext``, so stateful retargeters can react to state changes
   (e.g. reinitializing cross-step state on reset).

Polling control events in your script
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Use :func:`~isaaclab_teleop.poll_control_events` to read the latest control state each frame:

.. code-block:: python

   from isaaclab_teleop import poll_control_events

   with IsaacTeleopDevice(cfg) as device:
       running = False
       while sim_app.is_running():
           action = device.advance()

           ctrl = poll_control_events(device)
           if ctrl.is_active is not None:
               running = ctrl.is_active      # True after "start", False after "stop"
           if ctrl.should_reset:
               env.reset()                    # "reset" command received this frame

           if action is not None and running:
               env.step(action.repeat(num_envs, 1))
           else:
               env.sim.render()

:class:`~isaaclab_teleop.ControlEvents` has two fields:

* ``is_active`` -- ``True`` after a "start" command, ``False`` after "stop", ``None`` when no
  command has been received yet (callers should leave their own flag unchanged).
* ``should_reset`` -- ``True`` for exactly one frame after a "reset" command.

Disabling the control channel
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

If you do not need headset-driven start/stop/reset (e.g. keyboard-only workflows), set
``control_channel_uuid=None`` in your config:

.. code-block:: python

   IsaacTeleopCfg(
       pipeline_builder=_build_my_pipeline,
       control_channel_uuid=None,   # no opaque data channel created
   )

Using a custom channel UUID
~~~~~~~~~~~~~~~~~~~~~~~~~~~

To use a different channel UUID (e.g. for a separate control protocol), pass any 16-byte
``bytes`` value:

.. code-block:: python

   import uuid

   MY_UUID = uuid.uuid5(uuid.NAMESPACE_DNS, "my_custom_control").bytes

   IsaacTeleopCfg(
       pipeline_builder=_build_my_pipeline,
       control_channel_uuid=MY_UUID,
   )

The CloudXR JS client must be updated to discover this UUID when sending commands.


.. _isaac-teleop-retargeting:

Retargeting Framework
---------------------

Isaac Teleop uses a graph-based retargeting pipeline. Data flows from **source nodes** through
**retargeters** and is combined into a single action tensor.

Source Nodes
~~~~~~~~~~~~

* ``HandsSource`` -- provides hand tracking data (left/right, 26 joints each).
* ``ControllersSource`` -- provides motion controller data (grip pose, trigger, thumbstick, etc.).

Available Retargeters
~~~~~~~~~~~~~~~~~~~~~

Retargeters are provided by the ``isaacteleop`` package from the
`Isaac Teleop <https://github.com/NVIDIA/IsaacTeleop>`_ repository. The retargeters listed below
are those used by the built-in Isaac Lab environments. Isaac Teleop may offer additional
retargeters not listed here -- refer to the
`Isaac Teleop repository <https://github.com/NVIDIA/IsaacTeleop>`_ for the full set.

.. dropdown:: Se3AbsRetargeter / Se3RelRetargeter

   Maps hand or controller tracking to end-effector pose. ``Se3AbsRetargeter`` outputs a 7D
   absolute pose (position + quaternion). ``Se3RelRetargeter`` outputs a 6D delta.
   Configurable rotation offsets (roll, pitch, yaw in degrees).

.. dropdown:: GripperRetargeter

   Outputs a single float (-1.0 closed, 1.0 open). Uses controller trigger (priority) or
   thumb-index pinch distance from hand tracking.

.. dropdown:: DexHandRetargeter / DexBiManualRetargeter

   Retargets full hand tracking (26 joints) to robot-specific hand joint angles using the
   ``dex-retargeting`` library. Requires a robot hand URDF and a YAML configuration file.

   .. warning::

      The links used for retargeting must be defined at the actual fingertips, not in the middle
      of the fingers, to ensure accurate optimization.

.. dropdown:: TriHandMotionControllerRetargeter

   Maps VR controller buttons (trigger, squeeze) to G1 TriHand joints (7 DOF per hand). Simple
   mapping: trigger controls the index finger, squeeze controls the middle finger, and both
   together control the thumb.

.. dropdown:: LocomotionRootCmdRetargeter

   Maps controller thumbsticks to a 4D locomotion command:
   ``[vel_x, vel_y, rot_vel_z, hip_height]``.

.. dropdown:: TensorReorderer

   Utility that flattens and reorders outputs from multiple retargeters into a single 1D action
   tensor. The ``output_order`` must match the action space expected by the environment.

The built-in Isaac Lab environments use these retargeters as follows:

.. list-table::
   :header-rows: 1
   :widths: 40 60

   * - Environment
     - Retargeters Used
   * - Franka manipulation (stack, pick-place)
     - ``Se3AbsRetargeter``, ``GripperRetargeter``, ``TensorReorderer``
   * - G1 Inspire dexterous pick-place
     - ``Se3AbsRetargeter``, ``DexHandRetargeter``, ``TensorReorderer``
   * - GR1-T2 dexterous pick-place
     - ``Se3AbsRetargeter``, ``DexHandRetargeter``, ``TensorReorderer``
   * - G1 upper-body (fixed base)
     - ``Se3AbsRetargeter``, ``TriHandMotionControllerRetargeter``, ``TensorReorderer``
   * - G1 loco-manipulation
     - ``Se3AbsRetargeter``, ``TriHandMotionControllerRetargeter``, ``LocomotionRootCmdRetargeter``, ``TensorReorderer``


.. _isaac-teleop-env-control-reference:

Teleoperation Environment Reference
-----------------------------------

The tables below list every built-in Isaac Lab environment that supports teleoperation,
organized by input method. Environments whose Task ID ends in ``-Play`` are designed for
closed-loop policy evaluation and are not included here.

Isaac Teleop (XR Headset) Environments
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

These environments use the Isaac Teleop XR pipeline with motion controllers or hand tracking.

.. list-table::
   :header-rows: 1
   :widths: 28 14 14 44

   * - Task ID
     - Input Mode
     - Hands
     - Operator Interaction
   * - ``Isaac-Stack-Cube-Franka-IK-Abs-v0``
     - Controllers
     - Right
     - **Arm:** right controller grip pose drives end-effector.
       **Gripper:** right trigger.
   * - ``Isaac-PickPlace-GR1T2-Abs-v0``
     - Hand tracking
     - Both
     - **Arms:** left/right hand wrist pose drives each end-effector.
       **Hands:** full 26-joint hand tracking retargeted to 11 DOF per Fourier hand via ``DexHandRetargeter``.
   * - ``Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0``
     - Hand tracking
     - Both
     - Same as ``Isaac-PickPlace-GR1T2-Abs-v0`` with waist DOFs enabled.
   * - ``Isaac-NutPour-GR1T2-Pink-IK-Abs-v0``
     - Hand tracking
     - Both
     - Same retargeting pipeline as ``Isaac-PickPlace-GR1T2-Abs-v0`` (different task scene).
   * - ``Isaac-ExhaustPipe-GR1T2-Pink-IK-Abs-v0``
     - Hand tracking
     - Both
     - Same retargeting pipeline as ``Isaac-PickPlace-GR1T2-Abs-v0`` (different task scene).
   * - ``Isaac-PickPlace-G1-InspireFTP-Abs-v0``
     - Hand tracking
     - Both
     - **Arms:** left/right hand wrist pose drives each end-effector.
       **Hands:** full 26-joint hand tracking retargeted to 12 DOF per Inspire hand via ``DexHandRetargeter``.
   * - ``Isaac-PickPlace-FixedBaseUpperBodyIK-G1-Abs-v0``
     - Controllers
     - Both
     - **Arms:** left/right controller grip pose drives each end-effector.
       **Hands:** trigger closes index, squeeze closes middle, both together close thumb (7 DOF TriHand per hand).
   * - ``Isaac-PickPlace-Locomanipulation-G1-Abs-v0``
     - Controllers
     - Both
     - **Arms:** same as fixed-base G1 above.
       **Hands:** same TriHand mapping.
       **Locomotion:** left thumbstick = linear velocity (x/y), right thumbstick X = rotational velocity, right thumbstick Y = hip height.

.. tip::

   **Controllers** provide a grip pose plus physical buttons (trigger, squeeze, thumbstick),
   ideal for tasks that need a gripper or simple hand mapping. **Hand tracking** captures 26
   wrist and finger joints per hand, required for dexterous retargeting to complex robot hands.

Keyboard and SpaceMouse Environments
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. note::

   Keyboard and SpaceMouse teleoperation uses the legacy native Isaac Lab teleop stack
   (``isaaclab.devices``), not Isaac Teleop. These environments do not require an XR headset.

The device button layouts below apply to all environments in this section. Per-environment
differences (gripper enabled/disabled, sensitivity) are noted in the environment table that
follows.

**Keyboard**

.. list-table::
   :header-rows: 1
   :widths: 20 20 60

   * - Function
     - Keys
     - Description
   * - Position X
     - ``W`` / ``S``
     - Move end-effector forward / backward.
   * - Position Y
     - ``A`` / ``D``
     - Move end-effector left / right.
   * - Position Z
     - ``Q`` / ``E``
     - Move end-effector up / down.
   * - Roll
     - ``Z`` / ``X``
     - Rotate about X axis.
   * - Pitch
     - ``T`` / ``G``
     - Rotate about Y axis.
   * - Yaw
     - ``C`` / ``V``
     - Rotate about Z axis.
   * - Gripper toggle
     - ``K``
     - Open / close gripper or suction (disabled in Reach envs).
   * - Reset
     - ``L``
     - Clear accumulated delta pose and gripper state.

**SpaceMouse**

.. list-table::
   :header-rows: 1
   :widths: 20 20 60

   * - Function
     - Control
     - Description
   * - Translation
     - 6-DOF knob
     - Push/pull/slide the knob to move the end-effector in X/Y/Z.
   * - Rotation
     - 6-DOF knob
     - Tilt/twist the knob to rotate the end-effector in roll/pitch/yaw.
   * - Gripper toggle
     - Left button
     - Open / close gripper or suction (disabled in Reach envs).
   * - Reset
     - Right button
     - Clear accumulated delta pose and gripper state.

**Gamepad** (Reach environments only)

.. list-table::
   :header-rows: 1
   :widths: 20 20 60

   * - Function
     - Control
     - Description
   * - Position X / Y
     - Left stick
     - Move end-effector forward/backward and left/right.
   * - Position Z
     - Right stick (up/down)
     - Move end-effector up / down.
   * - Roll / Pitch
     - D-Pad
     - Left/right for roll, up/down for pitch.
   * - Yaw
     - Right stick (left/right)
     - Rotate about Z axis.
   * - Gripper toggle
     - X button
     - Open / close gripper (disabled in Reach envs).

.. list-table::
   :header-rows: 1
   :widths: 34 18 48

   * - Task ID
     - Devices
     - Operator Interaction
   * - ``Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0``
     - Keyboard, SpaceMouse
     - **Arm:** end-effector pose via RMPFlow.
       **Gripper:** ``K`` on keyboard, left button on SpaceMouse.
   * - ``Isaac-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow-v0``

       **Note:** With the RMPFlow controller, avoid colliding with
       the cubes during teleoperation: contact forces cause the
       controller to overtune and the arm to drift. Move the
       end-effector close to and just above the cube, stop, then
       close the suction cup.
     - Keyboard, SpaceMouse
     - **Arm:** end-effector pose via RMPFlow.
       **Suction:** ``K`` on keyboard, left button on SpaceMouse.
   * - ``Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-v0``
     - Keyboard, SpaceMouse
     - Same as left-arm gripper above with camera observations.
   * - ``Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0``
     - Keyboard, SpaceMouse
     - **Arm:** left-arm end-effector pose via RMPFlow.
       **Gripper:** ``K`` on keyboard, left button on SpaceMouse.
   * - ``Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0``
     - Keyboard, SpaceMouse
     - **Arm:** right-arm end-effector pose via RMPFlow.
       **Gripper:** ``K`` on keyboard, left button on SpaceMouse.
   * - ``Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0``
     - Keyboard, SpaceMouse
     - **Arm:** relative IK end-effector control.
       **Suction:** ``K`` on keyboard, left button on SpaceMouse.
   * - ``Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0``
     - Keyboard, SpaceMouse
     - Same as long-suction UR10 above with a shorter suction cup.
   * - ``Isaac-Reach-Franka-IK-Rel-v0``
     - Keyboard, Gamepad, SpaceMouse
     - **Arm:** relative IK end-effector control. Gripper disabled.


.. note::

   Humanoid arms (e.g. Galbot, Agibot) have joint limits that inverse kinematics must respect.
   The differential IK controller ignores these limits, so RMPFlow is preferred for teleoperating
   them as it enforces joint limits while solving IK. Consequently, the arm may occasionally stop
   responding when the commanded target pose is unreachable within those limits -- this is expected,
   not a bug.

.. _isaac-teleop-switching-input-mode:

Switch Between Controllers and Hand Tracking
---------------------------------------------

The retargeting pipeline determines whether an environment uses motion controllers or hand
tracking. Switching input modes requires changing the ``pipeline_builder`` function in your
environment config. No other environment-level changes are needed as long as the action
space (``TensorReorderer`` output order) stays the same.

**Controller to hand tracking**

The key changes are:

#. Create a ``HandsSource`` and apply the world-to-anchor transform to it (instead of
   ``ControllersSource``).
#. Point the ``Se3RetargeterConfig.input_device`` at the appropriate ``HandsSource`` key.
#. Set ``use_wrist_rotation=True`` and ``use_wrist_position=True`` so that the SE3 retargeter
   reads from the hand wrist joint rather than the controller grip pose.
#. The ``GripperRetargeter`` already supports both inputs -- it uses the controller trigger
   when connected to a ``ControllersSource`` or thumb-index pinch when connected to a
   ``HandsSource``.

Here is the Franka stack environment's controller-based pipeline alongside a hand-tracking
variant for comparison.

**Original (controller-based):**

.. code-block:: python
   :emphasize-lines: 4-5,10-12

   # SE3: tracks right controller grip pose
   se3_cfg = Se3RetargeterConfig(
       input_device=ControllersSource.RIGHT,
       use_wrist_rotation=False,
       use_wrist_position=False,
       target_offset_roll=90.0,
   )
   se3 = Se3AbsRetargeter(se3_cfg, name="ee_pose")
   connected_se3 = se3.connect({
       ControllersSource.RIGHT: transformed_controllers.output(
           ControllersSource.RIGHT
       ),
   })

**Modified (hand-tracking-based):**

.. code-block:: python
   :emphasize-lines: 2-5,9-11

   se3_cfg = Se3RetargeterConfig(
       input_device=HandsSource.RIGHT,
       use_wrist_rotation=True,
       use_wrist_position=True,
       target_offset_roll=0.0,
   )
   se3 = Se3AbsRetargeter(se3_cfg, name="ee_pose")

   transformed_hands = hands.transformed(transform_input.output(ValueInput.VALUE))
   connected_se3 = se3.connect({
       HandsSource.RIGHT: transformed_hands.output(HandsSource.RIGHT),
   })

The ``GripperRetargeter`` needs no changes -- it accepts both controller and hand inputs and
uses whichever source is connected.

**Hand tracking to controller**

Reverse the steps above: set ``input_device`` to a ``ControllersSource`` key, transform the
controllers instead of the hands, and set ``use_wrist_rotation=False`` and
``use_wrist_position=False``. Adjust ``target_offset_roll/pitch/yaw`` to account for the
controller grip frame orientation (typically 90 degrees roll for Franka-style grippers).

.. note::

   When switching between input modes, you may need to tune the ``target_offset_roll``,
   ``target_offset_pitch``, and ``target_offset_yaw`` values. Controller grip frames and hand
   wrist frames have different default orientations relative to the robot end-effector.


.. _isaac-teleop-pipeline-builder:

Build a Retargeting Pipeline
----------------------------

A pipeline builder is a callable that constructs the retargeting graph and returns an
``OutputCombiner`` with a single ``"action"`` key. Here is a complete example for a Franka
manipulator (from ``stack_ik_abs_env_cfg.py``):

.. code-block:: python

   def _build_franka_stack_pipeline():
       from isaacteleop.retargeting_engine.deviceio_source_nodes import ControllersSource, HandsSource
       from isaacteleop.retargeting_engine.interface import OutputCombiner, ValueInput
       from isaacteleop.retargeters import (
           GripperRetargeter, GripperRetargeterConfig,
           Se3AbsRetargeter, Se3RetargeterConfig,
           TensorReorderer,
       )
       from isaacteleop.retargeting_engine.tensor_types import TransformMatrix

       # 1. Create input sources
       controllers = ControllersSource(name="controllers")
       hands = HandsSource(name="hands")

       # 2. Apply coordinate-frame transform (world_T_anchor provided by IsaacTeleopDevice)
       transform_input = ValueInput("world_T_anchor", TransformMatrix())
       transformed_controllers = controllers.transformed(
           transform_input.output(ValueInput.VALUE)
       )

       # 3. Create and connect retargeters
       se3_cfg = Se3RetargeterConfig(
           input_device=ControllersSource.RIGHT,
           target_offset_roll=90.0,
       )
       se3 = Se3AbsRetargeter(se3_cfg, name="ee_pose")
       connected_se3 = se3.connect({
           ControllersSource.RIGHT: transformed_controllers.output(ControllersSource.RIGHT),
       })

       gripper_cfg = GripperRetargeterConfig(hand_side="right")
       gripper = GripperRetargeter(gripper_cfg, name="gripper")
       connected_gripper = gripper.connect({
           ControllersSource.RIGHT: transformed_controllers.output(ControllersSource.RIGHT),
           HandsSource.RIGHT: hands.output(HandsSource.RIGHT),
       })

       # 4. Flatten into a single action tensor with TensorReorderer
       ee_elements = ["pos_x", "pos_y", "pos_z", "quat_x", "quat_y", "quat_z", "quat_w"]
       reorderer = TensorReorderer(
           input_config={
               "ee_pose": ee_elements,
               "gripper_command": ["gripper_value"],
           },
           output_order=ee_elements + ["gripper_value"],
           name="action_reorderer",
           input_types={"ee_pose": "array", "gripper_command": "scalar"},
       )
       connected_reorderer = reorderer.connect({
           "ee_pose": connected_se3.output("ee_pose"),
           "gripper_command": connected_gripper.output("gripper_command"),
       })

       # 5. Return OutputCombiner with "action" key
       return OutputCombiner({"action": connected_reorderer.output("output")})

.. tip::

   The ``output_order`` of the ``TensorReorderer`` must match the action space of your environment.
   Mismatches will cause silent control errors.


.. _isaac-teleop-env-config:

Configure Your Environment
--------------------------

Register the pipeline in your environment configuration using :class:`~isaaclab_teleop.IsaacTeleopCfg`:

.. code-block:: python

   from isaaclab_teleop import IsaacTeleopCfg, XrCfg

   @configclass
   class MyTeleopEnvCfg(ManagerBasedRLEnvCfg):

       xr: XrCfg = XrCfg(anchor_pos=(0.5, 0.0, 0.5))

       def __post_init__(self):
           super().__post_init__()

           self.isaac_teleop = IsaacTeleopCfg(
               pipeline_builder=_build_my_pipeline,
               sim_device=self.sim.device,
               xr_cfg=self.xr,
           )

Key ``IsaacTeleopCfg`` fields:

* ``pipeline_builder`` -- callable that returns an ``OutputCombiner`` with an ``"action"`` output.
* ``retargeters_to_tune`` -- optional callable returning retargeters to expose in the live tuning UI.
* ``xr_cfg`` -- :class:`~isaaclab_teleop.XrCfg` for anchor configuration (see below).
* ``plugins`` -- list of Isaac Teleop plugin configurations (e.g. Manus).
* ``sim_device`` -- torch device string (default ``"cuda:0"``).
* ``retargeting_execution`` -- IsaacTeleop retargeting execution settings.
  Defaults to ``RetargetingExecutionConfig(mode="pipelined")`` with
  ``DeadlinePacingConfig(safety_margin_s=0.025)`` so retargeting can run on
  the IsaacTeleop worker instead of blocking the simulation loop.
  The 25 ms safety margin staggers IsaacTeleop's Python work behind Isaac
  Lab's step Python, giving native work such as rendering time to overlap
  instead of having both Python stacks contend for the GIL at the start of
  the step.

.. warning::

   ``pipeline_builder`` and ``retargeters_to_tune`` must be **callables** (functions or lambdas),
   not pre-built objects. The ``@configclass`` decorator deep-copies mutable attributes, which
   would break pre-built pipeline graphs.


.. _isaac-teleop-cloudxr-profiles:

CloudXR Environment Profiles
-----------------------------

Isaac Lab ships two ``.env`` profiles that configure the CloudXR runtime for different XR devices.
These are bundled inside the ``isaaclab_teleop`` package and can be referenced via constants:

.. list-table::
   :header-rows: 1
   :widths: 28 24 20 18 20

   * - Constant
     - File
     - ``NV_DEVICE_PROFILE``
     - ``NV_CXR_ENABLE_PUSH_DEVICES``
     - ``NV_ENABLE_POSE_WAIT``
   * - :data:`~isaaclab_teleop.CLOUDXR_JS_ENV`
     - ``cloudxrjs-cloudxr.env``
     - ``auto-webrtc``
     - ``0``
     - ``0``
   * - :data:`~isaaclab_teleop.CLOUDXR_AVP_ENV`
     - ``avp-cloudxr.env``
     - ``auto-native``
     - ``0``
     - ``0``

Both profiles set ``NV_CXR_ENABLE_PUSH_DEVICES=0``, which is correct for headset optical hand
tracking (the most common setup). For external push-device peripherals such as Manus gloves, set
this to ``1`` in a custom profile (see below).
They also set ``NV_ENABLE_POSE_WAIT=0`` so CloudXR does not throttle the application when frame
times spike. This favors lower latency over CloudXR's pose-wait smoothing.

Override at launch time
~~~~~~~~~~~~~~~~~~~~~~~

The ``--cloudxr_env`` flag on ``teleop_se3_agent.py`` and ``record_demos.py`` selects which
``.env`` profile to use. The default is ``cloudxrjs`` (Quest/Pico). Use the ``avp`` shorthand
for Apple Vision Pro, or pass a full file path for a custom profile:

.. code-block:: bash

   # Use the AVP profile
   ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
       --task Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 \
       --visualizer kit --xr \
       --cloudxr_env avp

Create a custom profile
~~~~~~~~~~~~~~~~~~~~~~~

Copy a shipped profile and edit it:

.. code-block:: bash

   # Start from the Quest/Pico profile
   cp $(python -c "from isaaclab_teleop import CLOUDXR_JS_ENV; print(CLOUDXR_JS_ENV)") ~/my-cloudxr.env

Edit ``~/my-cloudxr.env`` to change any values (e.g. ``NV_CXR_ENABLE_PUSH_DEVICES=1`` for
Manus gloves), then pass it via ``--cloudxr_env ~/my-cloudxr.env``.

Disable auto-launch
~~~~~~~~~~~~~~~~~~~

If you prefer to run the CloudXR runtime manually in a separate terminal
(``python -m isaacteleop.cloudxr``), you can disable auto-launch in several ways:

* **CLI flag**: ``--no-auto_launch_cloudxr`` on the teleop script.
* **Disable CloudXR entirely**: ``--cloudxr_env none``.
* **Environment variable**: ``ISAACLAB_CXR_SKIP_AUTOLAUNCH=1`` overrides the CLI flag at runtime.

.. code-block:: bash

   # Disable via CLI flag
   ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
       --task Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 \
       --visualizer kit --xr \
       --no-auto_launch_cloudxr

   # Or disable via environment variable
   ISAACLAB_CXR_SKIP_AUTOLAUNCH=1 ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
       --task Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 \
       --visualizer kit --xr


.. _isaac-teleop-xr-anchor:

Configure the XR Anchor
------------------------

The :class:`~isaaclab_teleop.XrCfg` controls how the simulation is positioned and oriented in the
XR device's view.

``anchor_pos`` / ``anchor_rot``
   Static anchor placement. The simulation point at these coordinates appears at the XR device's
   local origin (floor level). Set to a point on the floor beneath the robot to position it in
   front of the user.

``anchor_prim_path``
   Attach the anchor to a USD prim for dynamic positioning. Use this for locomotion tasks where
   the robot moves and the XR camera should follow.

``anchor_rotation_mode``
   Controls how anchor rotation behaves:

   .. list-table::
      :header-rows: 1
      :widths: 30 70

      * - Mode
        - Description
      * - ``FIXED``
        - Sets rotation once from ``anchor_rot``. Best for static manipulation setups.
      * - ``FOLLOW_PRIM``
        - Rotation continuously tracks the attached prim. Best for locomotion where the user
          should face the robot's heading direction.
      * - ``FOLLOW_PRIM_SMOOTHED``
        - Same as ``FOLLOW_PRIM`` with slerp interpolation. Controlled by
          ``anchor_rotation_smoothing_time`` (seconds, default 1.0). Reduces motion sickness from
          abrupt rotation changes. Typical range: 0.3--1.5 s.
      * - ``CUSTOM``
        - User-provided callable
          ``anchor_rotation_custom_func(headpose, primpose) -> quaternion`` for fully custom logic.

``fixed_anchor_height``
   When ``True`` (default), keeps the anchor height at its initial value. Prevents vertical
   bobbing during locomotion.

``near_plane``
   Closest render distance for the XR device (default 0.15 m).

.. note::

   On Apple Vision Pro, the local coordinate frame can be reset to a point on the floor beneath
   the user by holding the digital crown.

.. tip::

   When using XR, call :func:`~isaaclab_teleop.remove_camera_configs` on your env config to strip
   camera sensors. Additional cameras cause GPU contention and degrade XR performance.


.. _isaac-teleop-imitation-learning:

Record Demonstrations for Imitation Learning
---------------------------------------------

Isaac Teleop integrates with Isaac Lab's ``record_demos.py`` script for recording teleoperated
demonstrations.

When your environment configuration has an ``isaac_teleop`` attribute, the script automatically
uses ``create_isaac_teleop_device()`` -- no ``--teleop_device`` flag is needed:

.. code-block:: bash

   ./isaaclab.sh -p scripts/tools/record_demos.py \
       --task Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 \
       --visualizer kit \
       --xr

Some environments use the legacy ``teleop_devices`` configuration instead of ``isaac_teleop``
(e.g. the Galbot RmpFlow relative-mode tasks). For these, pass ``--teleop_device`` to select
the input device:

.. code-block:: bash

   ./isaaclab.sh -p scripts/tools/record_demos.py \
       --task Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 \
       --visualizer kit \
       --teleop_device keyboard

The workflow is:

#. Configure your environment with ``IsaacTeleopCfg`` (see :ref:`isaac-teleop-env-config`)
   or ``teleop_devices`` for legacy devices (keyboard, spacemouse).
#. Run ``record_demos.py`` with the task name.
#. For XR tasks: start AR, connect your XR device, and teleoperate.
   For legacy tasks: use the configured input device directly.
#. Demonstrations are recorded to HDF5 files.
#. Use the recorded data with Isaac Lab Mimic or other imitation learning frameworks.

For the broader imitation learning pipeline (replay, augmentation, policy training), see
:ref:`teleoperation-imitation-learning`.


.. _isaac-teleop-new-embodiment:

Add a New Robot
---------------

To add teleoperation support for a new robot in Isaac Lab:

#. **Choose a control scheme.** Refer to the :ref:`isaac-teleop-control-schemes` table to determine
   which retargeters match your robot's capabilities.

#. **Build the pipeline.** If existing retargeters are sufficient (e.g. ``Se3AbsRetargeter`` +
   ``GripperRetargeter`` for a new manipulator), write a pipeline builder function following the
   pattern in :ref:`isaac-teleop-pipeline-builder`. Configure the ``TensorReorderer`` output order
   to match your environment's action space.

#. **For dexterous hands**: create a robot hand URDF and YAML config for ``DexHandRetargeter``.
   Ensure fingertip links are positioned at the actual fingertips, not mid-finger.

#. **For a custom retargeter**: see :ref:`isaac-teleop-new-retargeter` below.

#. **Configure the XR anchor** for your robot (static for manipulation, dynamic for locomotion).
   See :ref:`isaac-teleop-xr-anchor`.

#. **Register in env config** via ``IsaacTeleopCfg`` (see :ref:`isaac-teleop-env-config`).


.. _isaac-teleop-new-retargeter:

Add a New Retargeter
--------------------

If the built-in retargeters do not cover your use case, you can implement a custom one in the
`Isaac Teleop repository <https://github.com/NVIDIA/IsaacTeleop>`_:

#. Inherit from ``BaseRetargeter`` and implement ``input_spec()``, ``output_spec()``, and
   ``compute()``.
#. Optionally add a ``ParameterState`` for parameters that should be live-tunable via the
   retargeter tuning UI.
#. Connect to existing source nodes (``HandsSource``, ``ControllersSource``) or create a new
   ``IDeviceIOSource`` subclass for custom input devices.

See the `Isaac Teleop repository <https://github.com/NVIDIA/IsaacTeleop>`_
and `Contributing Guide <https://github.com/NVIDIA/IsaacTeleop/blob/main/CONTRIBUTING.md>`_ for details.


.. _isaac-teleop-new-device:

Add a New Device
----------------

There are two levels of device integration:

**Isaac Teleop plugin (C++ level)**
   For new hardware that requires a custom driver or SDK. Plugins push data via OpenXR tensor
   collections. Existing plugins include Manus gloves, OAK-D camera, controller synthetic hands,
   and foot pedals. After creating the plugin, update the retargeting pipeline config to consume
   data from the new plugin's source node.

   See the `Plugins directory <https://github.com/NVIDIA/IsaacTeleop/tree/main/src/plugins/>`_ for examples.

**Pipeline configuration only**
   For devices already supported by Isaac Teleop (or whose data is available as hand / controller
   tracking). Simply update your ``pipeline_builder`` to use the appropriate source nodes and
   retargeters for the device's data format.


.. _isaac-teleop-performance:

Optimize XR Performance
-----------------------

.. dropdown:: Configure the physics and render time step
   :open:

   Ensure the simulation render time step roughly matches the XR device's display rate and can
   be sustained in real time. Quest 3 and Pico 4 Ultra typically run at 90 Hz, so we recommend a
   simulation ``dt`` of 90 Hz with a ``render_interval`` of 2 (rendering at 45 Hz):

   .. code-block:: python

      @configclass
      class XrTeleopEnvCfg(ManagerBasedRLEnvCfg):

          def __post_init__(self):
              self.sim.dt = 1.0 / 90        # physics steps at 90 Hz
              self.sim.render_interval = 2  # one render per 2 physics steps -> 45 Hz

   ``sim.render_interval`` is the number of physics simulation steps that occur between
   renders. Increasing it reduces rendering frequency (and GPU cost) without changing physics
   behavior -- useful when physics can keep up but rendering cannot.

   The choice of ``sim.dt`` is a trade-off between stability and performance: a smaller ``dt``
   (e.g. ``1.0 / 120``) integrates contacts more accurately and is more stable for stiff
   contact-rich tasks, but each step costs more wall-clock time and lowers achievable frame
   rate. A larger ``dt`` (e.g. ``1.0 / 60``) is cheaper but can introduce contact jitter or
   instabilities. Pick the largest ``dt`` your task tolerates.

.. dropdown:: Switch the viewport to the RTX - Minimal renderer
   :open:

   The RTX - Minimal renderer trades image fidelity for substantially lower per-frame GPU cost.
   It is the recommended choice when the simulation cannot sustain the XR device's display rate
   in real time -- for example on lower-spec GPUs, in scenes with many lights or complex
   materials, or when you have already configured ``sim.dt`` and ``sim.render_interval`` and
   still see dropped frames.

   .. admonition:: Known issue
      :class: important

      Starting an XR session while RTX - Minimal is already the active renderer is a known
      issue: robot control inputs may never be applied and teleoperation stays non-functional,
      with no error reported. Switching to RTX - Minimal *after* the XR session has started and
      teleoperation is confirmed working is not affected.

      As a workaround, start under the default renderer before switching to RTX - Minimal:

      #. Launch Isaac Lab with the default renderer and start the XR session.
      #. Confirm that teleoperation is working (the robot responds to your hand motions).
      #. Switch the viewport renderer to **RTX - Minimal** as described below.

   To enable it, click the renderer dropdown at the top-left of the Isaac Lab viewport and
   select **RTX - Minimal**:

   .. figure:: ../_static/teleop/recommended-render-select.jpg
      :width: 80%
      :alt: Viewport renderer dropdown with RTX - Minimal selected

      Selecting the **RTX - Minimal** renderer from the viewport dropdown.

   For best results, open **Render Settings** from the top-right of the Isaac Lab UI, switch to
   the **Minimal** tab, and set **Minimal Shading Mode** to **Diffuse/Glossy/Emission**:

   .. figure:: ../_static/teleop/recommended-render-settings.jpg
      :width: 80%
      :alt: Render Settings panel showing the Minimal Shading Mode options

      The **Render Settings** panel with the **Minimal Shading Mode** dropdown open
      (recommended: **Diffuse/Glossy/Emission**).

   .. note::

      The RTX Minimal renderer currently only supports ``DistantLight`` prims for scene
      illumination -- ``DomeLight`` prims are ignored. If your environment uses a ``DomeLight``,
      swap (or supplement) it with a ``DistantLight`` so the scene is lit when running under
      RTX Minimal:

      .. code-block:: python

         import isaaclab.sim as sim_utils
         from isaaclab.assets import AssetBaseCfg

         light = AssetBaseCfg(
             prim_path="/World/light",
             spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
         )

      Depending on your environment, the default ``DistantLight`` orientation may cast shadows
      that overlap the robot and reduce visibility during teleoperation. If you encounter this,
      adjust the light's orientation via ``init_state`` on :class:`~isaaclab.assets.AssetBaseCfg`
      to position the light source at an angle that gives clear visibility:

      .. code-block:: python

         import isaaclab.sim as sim_utils
         from isaaclab.assets import AssetBaseCfg

         light = AssetBaseCfg(
             prim_path="/World/light",
             spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
             init_state=AssetBaseCfg.InitialStateCfg(
                 rot=(0.0, 0.0, 0.0, 1.0),  # quaternion (x, y, z, w); adjust to reduce shadow overlap
             ),
         )

      Experiment with different orientations in your scene to find an angle that avoids
      shadow overlap on the robot. A slight tilt away from the camera viewpoint is a good
      starting point.

.. dropdown:: Lower the XR render resolution
   :open:

   The XR render resolution multiplier scales the size of the render buffers that are then
   upscaled to the headset's recommended display resolution. Lowering it trades image
   sharpness for substantially lower per-frame GPU cost, which can help sustain real-time
   frame rates on lower-spec GPUs or in heavy scenes.

   In the Isaac Lab UI, open the **XR** tab on the right-side panel, expand
   **Advanced Settings -> Render Resolution**, and drag the **Resolution Multiplier** slider:

   .. figure:: ../_static/teleop/xr-resolution-slider.jpg
      :width: 80%
      :alt: XR Render Resolution slider in the Advanced Settings panel

      The **Resolution Multiplier** under **XR -> Advanced Settings -> Render Resolution**.
      Values below ``1.0`` reduce the render-buffer size before upscaling to the headset.

   A value around ``0.8`` is usually a good starting point: noticeable GPU savings with minimal
   perceptible quality loss. Reduce further only if you still cannot hit the headset's display
   rate.

.. dropdown:: Configure retargeting execution
   :open:

   Isaac Teleop can run retargeting either synchronously on the application thread or
   asynchronously through a pipelined worker. This is controlled by
   ``RetargetingExecutionConfig``.

   In synchronous mode, retargeting runs inline with the simulation step. This can be the
   best choice for lightweight retargeting or retargeting implemented mostly in Python,
   since a background Python worker can still contend with the application thread through
   the GIL.

   In pipelined mode, Isaac Teleop submits retargeting work to a background worker and the
   application uses the most recent completed result. This is useful when retargeting has
   enough native work to overlap with simulation or rendering, or when the retargeting cost
   is large enough that running it inline would directly extend the frame.

   .. code-block:: python

      retargeting_execution=RetargetingExecutionConfig(
          mode="pipelined",
          pacing=DeadlinePacingConfig(safety_margin_s=0.025),
      )

   ``DeadlinePacingConfig`` intentionally delays the background retargeting work until
   closer to when the next result is needed, instead of starting it immediately when the
   request is submitted. This helps avoid competing with the Python work Isaac Lab performs
   at the beginning of the frame, and tends to line the retargeting work up with rendering
   or other native work where overlap is more useful.

   The ``safety_margin_s`` value controls how early retargeting starts before the predicted
   deadline. A larger margin starts retargeting earlier, which gives heavier or more variable
   retargeting work more time to finish before the next frame consumes the result. The
   trade-off is that the input sample may be slightly older, and Python-heavy retargeting
   may introduce more GIL contention.

   If retargeting is mostly Python and lightweight, consider ``mode="sync"``. If retargeting
   performs substantial native work or has occasional long spikes, use ``mode="pipelined"``
   and increase ``safety_margin_s`` so the work starts earlier.

.. dropdown:: Check CloudXR frame pacing
   :open:

   The CloudXR Runtime frame pacer attempts to keep the client experience smooth. If the
   application has repeated frame-time spikes, the pacer may settle at a lower stable frame
   rate instead of oscillating between rates. This can make a connected client appear slower
   even when Isaac Lab profiling does not show a proportional simulation-side regression.

   The shipped CloudXR profiles set ``NV_ENABLE_POSE_WAIT=0`` to mitigate this case, favoring lower
   latency over pose-wait smoothing. If you use a custom ``.env`` file, copy that setting into the
   custom profile, then point ``teleop_se3_agent.py`` or ``record_demos.py`` at it with
   ``--cloudxr_env``. See :ref:`isaac-teleop-cloudxr-profiles` for the profile override workflow.


.. _isaac-teleop-known-issues:

Known Issues
------------

* ``XR_ERROR_VALIDATION_FAILURE: xrWaitFrame(frameState->type == 0)`` when stopping AR Mode

  Can be safely ignored. Caused by a race condition in the exit handler.

* ``XR_ERROR_INSTANCE_LOST in xrPollEvent``

  Occurs if the CloudXR runtime exits before Isaac Lab. Restart the runtime to resume.

* ``[omni.usd] TF_PYTHON_EXCEPTION`` when starting/stopping AR Mode

  Can be safely ignored. Caused by a race condition in the enter/exit handler.

* ``Invalid version string in _ParseVersionString``

  Caused by shader assets authored with older USD versions. Typically safe to ignore.

* XR device connects but no video is displayed (viewport responds to tracking)

  The GPU index may differ between host and container. Set ``NV_GPU_INDEX`` to ``0``, ``1``, or
  ``2`` in the runtime to match the host GPU.


.. _isaac-teleop-api-ref:

API Reference
-------------

See the :ref:`isaaclab_teleop-api` for full class and function documentation:

* :class:`~isaaclab_teleop.IsaacTeleopCfg`
* :class:`~isaaclab_teleop.IsaacTeleopDevice`
* :func:`~isaaclab_teleop.create_isaac_teleop_device`
* :class:`~isaaclab_teleop.ControlEvents`
* :class:`~isaaclab_teleop.SupportsControlEvents`
* :func:`~isaaclab_teleop.poll_control_events`
* :data:`~isaaclab_teleop.TELEOP_CONTROL_CHANNEL_UUID`
* :class:`~isaaclab_teleop.XrCfg`
* :class:`~isaaclab_teleop.XrAnchorRotationMode`


..
   References
.. _`Isaac XR Teleop Sample Client`: https://github.com/isaac-sim/isaac-xr-teleop-sample-client-apple