Fixes XR teleop performance issues (#221)

# Description

- Updated kit file for xr to include async rendering and GPU limit
increase
- Set xr anchor to active camera
- Conditionally remove rate limiting in record_demos.py if handtracking
is used


## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)

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feature works
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apps/isaaclab.python.xr.openxr.kit

@@ -17,6 +17,14 @@ app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
 app.version = "4.5.0"
 
+### async rendering settings
+omni.replicator.asyncRendering = true
+app.asyncRendering = true
+app.asyncRenderingLowLatency = true
+
+# For XR, set this back to default "#define OMNI_MAX_DEVICE_GROUP_DEVICE_COUNT 16"
+renderer.multiGpu.maxGpuCount = 16
+
 [dependencies]
 "isaaclab.python.rendering" = {}
 "isaacsim.xr.openxr" = {}
@@ -28,7 +36,9 @@ app.version = "4.5.0"
 [settings]
 # xr settings
 xr.ui.enabled = false
-xrstage.profile.ar.anchorMode = "scene origin"
+xrstage.profile.ar.anchorMode = "active camera"
+xr.depth.aov = "GBufferDepth"
+defaults.xr.profile.ar.renderQuality = "off"
 
 # Register extension folder from this repo in kit
 [settings.app.exts]

scripts/tools/record_demos.py

@@ -122,6 +122,10 @@ def pre_process_actions(delta_pose: torch.Tensor, gripper_command: bool) -> torc
 def main():
     """Collect demonstrations from the environment using teleop interfaces."""
 
+    # if handtracking is selected, rate limiting is achieved via OpenXR
+    if args_cli.teleop_device.lower() == "handtracking":
+        rate_limiter = None
+    else:
         rate_limiter = RateLimiter(args_cli.step_hz)
 
     # get directory path and file name (without extension) from cli arguments
@@ -243,6 +247,7 @@ def main():
             if env.unwrapped.sim.is_stopped():
                 break
 
+            if rate_limiter:
                 rate_limiter.sleep(env.unwrapped)
 
     env.close()