Add Meta Quest Support

docker/Dockerfile.isaaclab_arena

@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=nvcr.io/nvidia/isaac-sim:5.0.0
+ARG BASE_IMAGE=nvcr.io/nvidia/isaac-sim:5.1.0
 
 FROM ${BASE_IMAGE}
 
@@ -10,6 +10,8 @@ ARG WORKDIR="/workspace"
 ENV WORKDIR=${WORKDIR}
 WORKDIR "${WORKDIR}"
 
+USER root
+
 # Hide conflicting Vulkan files, if needed.
 RUN if [ -e "/usr/share/vulkan" ] && [ -e "/etc/vulkan" ]; then \
       mv /usr/share/vulkan /usr/share/vulkan_hidden; \
@@ -24,7 +26,7 @@ RUN apt-get update && apt-get install -y \
   python3-pip
 
 # Update pip to the latest version
-RUN pip3 install --upgrade pip
+#RUN pip3 install --upgrade pip
 
 ################################
 # Install Isaac Lab
@@ -38,9 +40,10 @@ ENV TERM=xterm
 # Symlink isaac sim to IsaacLab
 RUN ln -s /isaac-sim/ ${WORKDIR}/submodules/IsaacLab/_isaac_sim
 # Install IsaacLab dependencies
-RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do pip install --no-deps -e "$DIR"; done
+RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do pip install --no-deps -e "$DIR" --break-system-packages; done
 # Logs and other stuff appear under dist-packages per default, so this dir has to be writeable.
-RUN chmod 777 -R /isaac-sim/kit/
+# Make entire /isaac-sim directory accessible for non-root users running python commands.
+RUN chmod 777 -R /isaac-sim/
 # Install isaaclab
 RUN ${ISAACLAB_PATH}/isaaclab.sh -i
 
@@ -57,7 +60,7 @@ RUN if python -c "import qpsolvers; print(qpsolvers.available_solvers)" | grep -
 
 # Install pip dependencies
 # NOTE(alexmillane, 2025-07-22): Dependencies are installed in the IsaacSim version of python.
-RUN /isaac-sim/python.sh -m pip install --upgrade pip && \
+RUN /isaac-sim/python.sh -m pip install --upgrade pip --break-system-packages && \
   /isaac-sim/python.sh -m pip install \
   pytest \
   jupyter \
@@ -67,7 +70,7 @@ RUN /isaac-sim/python.sh -m pip install --upgrade pip && \
   onnxruntime
 
 # lwlabs deps
-RUN /isaac-sim/python.sh -m pip install --upgrade pip && \
+RUN /isaac-sim/python.sh -m pip install --upgrade pip --break-system-packages && \
   /isaac-sim/python.sh -m pip install \
   vuer[all] \
   lightwheel-sdk
@@ -77,7 +80,7 @@ ENV LW_API_ENDPOINT="https://api-dev.lightwheel.net"
 
 # HuggingFace for downloading datasets and models.
 # NOTE(alexmillane, 2025-10-28): For some reason the CLI has issues when installed in the IsaacSim version of python.
-RUN pip install huggingface-hub[cli]
+RUN pip install huggingface-hub[cli] --break-system-packages
 # Create alias for hf command to use the system-installed version
 RUN echo "alias hf='/usr/local/bin/hf'" >> /etc/bash.bashrc
 
@@ -132,7 +135,7 @@ RUN echo "alias pytest='/isaac-sim/python.sh -m pytest'" >> /etc/bash.bashrc
 #    It will pause waiting for the debugger to attach.
 # 3) Attach to the running container with VSCode using the "Attach to debugpy session"
 #    configuration from the Run and Debug panel.
-RUN pip3 install debugpy
+RUN pip3 install debugpy --break-system-packages
 RUN echo "alias debugpy='python -Xfrozen_modules=off -m debugpy --listen localhost:5678 --wait-for-client'" >> /etc/bash.bashrc
 
 # Change prompt so it's obvious we're inside the arena container

docker/run_docker.sh

@@ -7,6 +7,9 @@ SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
 WORKDIR="/workspaces/isaaclab_arena"
 
+# Default OpenXR directory shared with CloudXR runtime (lives in IsaacLab submodule)
+OPENXR_HOST_DIR="./submodules/IsaacLab/openxr"
+
 # Default mount directory on the host machine for the datasets
 DATASETS_HOST_MOUNT_DIRECTORY="$HOME/datasets"
 # Default mount directory on the host machine for the models

isaaclab_arena/scripts/teleop.py

@@ -89,7 +89,7 @@ def main() -> None:
     env_name, env_cfg = arena_builder.build_registered()
     # modify configuration
     env_cfg.terminations.time_out = None
-    if "Lift" in args_cli.task:
+    if "Lift" in args_cli.example_environment:
         # set the resampling time range to large number to avoid resampling
         env_cfg.commands.object_pose.resampling_time_range = (1.0e9, 1.0e9)
         # add termination condition for reaching the goal otherwise the environment won't reset
@@ -105,9 +105,9 @@ def main() -> None:
         # create environment
         env = gym.make(env_name, cfg=env_cfg).unwrapped
         # check environment name (for reach , we don't allow the gripper)
-        if "Reach" in args_cli.task:
+        if "Reach" in args_cli.example_environment:
             omni.log.warn(
-                f"The environment '{args_cli.task}' does not support gripper control. The device command will be"
+                f"The environment '{args_cli.example_environment}' does not support gripper control. The device command will be"
                 " ignored."
             )
     except Exception as e:
@@ -241,6 +241,13 @@ def stop_teleoperation() -> None:
 
                 # Only apply teleop commands when active
                 if teleoperation_active:
+                    # Pad action if teleop device outputs fewer dims than environment expects
+                    # actions[:16] are EEF-related, actions[16:] are WBC-related (may need padding)
+                    expected_dim = env.action_space.shape[-1]
+                    if action.shape[0] < expected_dim:
+                        padding = torch.zeros(expected_dim - action.shape[0], device=action.device, dtype=action.dtype)
+                        action = torch.cat([action, padding])
+
                     # process actions
                     actions = action.repeat(env.num_envs, 1)
                     # apply actions

isaaclab_arena/teleop_devices/__init__.py

@@ -5,4 +5,5 @@
 
 from .avp_handtracking import *
 from .keyboard import *
+from .motion_controllers import *
 from .spacemouse import *

isaaclab_arena/teleop_devices/motion_controllers.py

@@ -0,0 +1,70 @@
+# Copyright (c) 2025, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Teleop device for motion controllers (VR controllers like Quest controllers)."""
+
+from isaaclab.devices.device_base import DevicesCfg
+from isaaclab.devices.openxr import OpenXRDeviceCfg
+from isaaclab.devices.openxr.retargeters import (
+    G1LowerBodyStandingMotionControllerRetargeterCfg,
+    G1TriHandUpperBodyMotionControllerGripperRetargeterCfg,
+)
+from isaaclab.devices.openxr.xr_cfg import XrAnchorRotationMode
+
+from isaaclab_arena.assets.register import register_device
+from isaaclab_arena.teleop_devices.teleop_device_base import TeleopDeviceBase
+
+
+@register_device
+class MotionControllersTeleopDevice(TeleopDeviceBase):
+    """
+    Teleop device for VR motion controllers (e.g., Quest controllers).
+
+    This device uses motion controllers instead of hand tracking for teleoperation.
+    It's useful when you have VR controllers but not hand tracking capability.
+    Currently supports G1 humanoid robot with gripper control via trigger buttons.
+    """
+
+    name = "motion_controllers"
+
+    def __init__(
+        self,
+        sim_device: str | None = None,
+    ):
+        """Initialize motion controllers teleop device.
+
+        Args:
+            sim_device: The simulation device (e.g., "cuda:0").
+        """
+        super().__init__(sim_device=sim_device)
+
+    def get_teleop_device_cfg(self, embodiment: object | None = None):
+        """Get the teleop device configuration.
+
+        Args:
+            embodiment: The embodiment to use for the teleop device configuration.
+
+        Returns:
+            DevicesCfg: The device configuration for motion controllers.
+        """
+        xr_cfg = embodiment.get_xr_cfg()
+        xr_cfg.anchor_rotation_mode = XrAnchorRotationMode.FOLLOW_PRIM_SMOOTHED
+
+        return DevicesCfg(
+            devices={
+                "motion_controllers": OpenXRDeviceCfg(
+                    retargeters=[
+                        G1TriHandUpperBodyMotionControllerGripperRetargeterCfg(
+                            sim_device=self.sim_device,
+                        ),
+                        G1LowerBodyStandingMotionControllerRetargeterCfg(
+                            sim_device=self.sim_device,
+                        ),
+                    ],
+                    sim_device=self.sim_device,
+                    xr_cfg=xr_cfg,
+                ),
+            }
+        )