Refactors remove_camera_cfg (#422)

This will refactor the remove_camera_cfg out of record_demos.py into
xr_cfg.py so it can be used across end user scripts (record_demos.py,
teleop_se3_agent.py, etc)

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

scripts/environments/teleoperation/teleop_se3_agent.py

@@ -58,6 +58,7 @@ import torch
 import omni.log
 
 from isaaclab.devices import Se3Gamepad, Se3GamepadCfg, Se3Keyboard, Se3KeyboardCfg, Se3SpaceMouse, Se3SpaceMouseCfg
+from isaaclab.devices.openxr import remove_camera_configs
 from isaaclab.devices.teleop_device_factory import create_teleop_device
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 
@@ -90,6 +91,12 @@ def main() -> None:
         # add termination condition for reaching the goal otherwise the environment won't reset
         env_cfg.terminations.object_reached_goal = DoneTerm(func=mdp.object_reached_goal)
 
+    if args_cli.xr:
+        # External cameras are not supported with XR teleop
+        # Check for any camera configs and disable them
+        env_cfg = remove_camera_configs(env_cfg)
+        env_cfg.sim.render.antialiasing_mode = "DLSS"
+
     try:
         # create environment
         env = gym.make(args_cli.task, cfg=env_cfg).unwrapped

scripts/tools/record_demos.py

@@ -90,6 +90,7 @@ import omni.log
 import omni.ui as ui
 
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg, Se3SpaceMouse, Se3SpaceMouseCfg
+from isaaclab.devices.openxr import remove_camera_configs
 from isaaclab.devices.teleop_device_factory import create_teleop_device
 
 import isaaclab_mimic.envs  # noqa: F401
@@ -100,11 +101,10 @@ if args_cli.enable_pinocchio:
 
 from collections.abc import Callable
 
-from isaaclab.envs import DirectRLEnvCfg, ManagerBasedEnvCfg, ManagerBasedRLEnvCfg
+from isaaclab.envs import DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
 from isaaclab.envs.ui import EmptyWindow
-from isaaclab.managers import DatasetExportMode, SceneEntityCfg
-from isaaclab.sensors import CameraCfg
+from isaaclab.managers import DatasetExportMode
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
@@ -166,26 +166,6 @@ def setup_output_directories() -> tuple[str, str]:
     return output_dir, output_file_name
 
 
-def remove_camera_configs(env_cfg: ManagerBasedEnvCfg):
-    """Removes cameras from environments when recording since XR does not work together with rendering."""
-    for attr_name in dir(env_cfg.scene):
-        attr = getattr(env_cfg.scene, attr_name)
-        if isinstance(attr, CameraCfg):
-            delattr(env_cfg.scene, attr_name)
-            omni.log.info(f"Removed camera config: {attr_name}")
-
-            # Remove any ObsTerms for the camera
-            for obs_name in dir(env_cfg.observations.policy):
-                obsterm = getattr(env_cfg.observations.policy, obs_name)
-                if hasattr(obsterm, "params") and obsterm.params:
-                    for param_value in obsterm.params.values():
-                        if isinstance(param_value, SceneEntityCfg) and param_value.name == attr_name:
-                            delattr(env_cfg.observations.policy, attr_name)
-                            omni.log.info(f"Removed camera observation term: {attr_name}")
-                            break
-    return env_cfg
-
-
 def create_environment_config(
     output_dir: str, output_file_name: str
 ) -> tuple[ManagerBasedRLEnvCfg | DirectRLEnvCfg, object | None]:

source/isaaclab/docs/CHANGELOG.rst

@@ -281,17 +281,17 @@ Changed
   :meth:`~isaaclab.utils.math.quat_apply` and :meth:`~isaaclab.utils.math.quat_apply_inverse` for speed.
 
 
-0.40.8 (2025-05-19)
+0.40.9 (2025-05-19)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
-^^^^^^
+^^^^^
 
 * Raising exceptions in step, render and reset if they occurred inside the initialization callbacks
   of assets and sensors.used from the experience files and the double definition is removed.
 
 
-0.40.7 (2025-01-30)
+0.40.8 (2025-01-30)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -301,7 +301,7 @@ Added
   in the simulation.
 
 
-0.40.6 (2025-05-16)
+0.40.7 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -316,7 +316,7 @@ Changed
   resampling call.
 
 
-0.40.5 (2025-05-16)
+0.40.6 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -325,7 +325,7 @@ Fixed
 * Fixed penetration issue for negative border height in :class:`~isaaclab.terrains.terrain_generator.TerrainGeneratorCfg`.
 
 
-0.40.4 (2025-05-16)
+0.40.5 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -340,7 +340,7 @@ Added
 * Added :meth:`~isaaclab.utils.math.rigid_body_twist_transform`
 
 
-0.40.3 (2025-05-15)
+0.40.4 (2025-05-15)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -354,13 +354,22 @@ Fixed
   unused USD camera parameters.
 
 
-0.40.2 (2025-05-14)
+0.40.3 (2025-05-14)
 ~~~~~~~~~~~~~~~~~~~
 
 * Added a new attribute :attr:`articulation_root_prim_path` to the :class:`~isaaclab.assets.ArticulationCfg` class
   to allow explicitly specifying the prim path of the articulation root.
 
 
+0.40.2 (2025-05-14)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Refactored remove_camera_configs to be a function that can be used in the record_demos and teleop scripts.
+
+
 0.40.1 (2025-05-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/devices/openxr/__init__.py

@@ -6,4 +6,4 @@
 """Keyboard device for SE(2) and SE(3) control."""
 
 from .openxr_device import OpenXRDevice, OpenXRDeviceCfg
-from .xr_cfg import XrCfg
+from .xr_cfg import XrCfg, remove_camera_configs

source/isaaclab/isaaclab/devices/openxr/xr_cfg.py

@@ -26,7 +26,7 @@ class XrCfg:
     Specifically: this position will appear at the origin of the XR device's local coordinate frame.
     """
 
-    anchor_rot: tuple[float, float, float] = (1.0, 0.0, 0.0, 0.0)
+    anchor_rot: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0)
     """Specifies the rotation (as a quaternion) of the simulation when viewed in an XR device.
 
     Specifically: this rotation will determine how the simulation is rotated with respect to the
@@ -40,3 +40,45 @@ class XrCfg:
 
     This value determines the closest distance at which objects will be rendered in the XR device.
     """
+
+
+from typing import Any
+
+
+def remove_camera_configs(env_cfg: Any) -> Any:
+    """Removes cameras from environments when using XR devices.
+
+    XR does not support additional cameras in the environment as they can cause
+    rendering conflicts and performance issues. This function scans the environment
+    configuration for camera objects and removes them, along with any associated
+    observation terms that reference these cameras.
+
+    Args:
+        env_cfg: The environment configuration to modify.
+
+    Returns:
+        The modified environment configuration with cameras removed.
+    """
+
+    import omni.log
+
+    from isaaclab.managers import SceneEntityCfg
+    from isaaclab.sensors import CameraCfg
+
+    for attr_name in dir(env_cfg.scene):
+        attr = getattr(env_cfg.scene, attr_name)
+        if isinstance(attr, CameraCfg):
+            delattr(env_cfg.scene, attr_name)
+            omni.log.info(f"Removed camera config: {attr_name}")
+
+            # Remove any ObsTerms for the camera
+            if hasattr(env_cfg.observations, "policy"):
+                for obs_name in dir(env_cfg.observations.policy):
+                    obsterm = getattr(env_cfg.observations.policy, obs_name)
+                    if hasattr(obsterm, "params") and obsterm.params:
+                        for param_value in obsterm.params.values():
+                            if isinstance(param_value, SceneEntityCfg) and param_value.name == attr_name:
+                                delattr(env_cfg.observations.policy, attr_name)
+                                omni.log.info(f"Removed camera observation term: {attr_name}")
+                                break
+    return env_cfg