Improves XR teleop performance (#236)

# Description

- Updated the simulation parameters to improve the XR teleop performance

## Type of change

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

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>

source/isaaclab/isaaclab/devices/openxr/se3_handtracking.py

@@ -38,10 +38,16 @@ class Se3HandTracking(DeviceBase):
     """
 
     GRIP_HYSTERESIS_METERS: Final[float] = 0.05  # 2.0 inch
-    DELTA_POS_SCALE_FACTOR = 10
-    DELTA_ROT_SCALE_FACTOR = 10
 
-    def __init__(self, hand, abs=True, zero_out_xy_rotation=False, use_wrist_rotation=False):
+    def __init__(
+        self,
+        hand,
+        abs=True,
+        zero_out_xy_rotation=False,
+        use_wrist_rotation=False,
+        delta_pos_scale_factor=10,
+        delta_rot_scale_factor=10,
+    ):
         self._openxr = OpenXR()
         self._previous_pos = np.zeros(3)
         self._previous_rot = np.zeros(3)
@@ -71,6 +77,8 @@ class Se3HandTracking(DeviceBase):
         # Select RTX - RealTime for Renderer
         viewport_api = get_active_viewport()
         viewport_api.set_hd_engine("rtx", "RaytracedLighting")
+        self._delta_pos_scale_factor = delta_pos_scale_factor
+        self._delta_rot_scale_factor = delta_rot_scale_factor
 
     def __del__(self):
         return
@@ -247,7 +255,7 @@ class Se3HandTracking(DeviceBase):
         if not self._tracking:
             return np.zeros(6)
 
-        return np.concatenate([delta_pos * self.DELTA_POS_SCALE_FACTOR, delta_rot * self.DELTA_ROT_SCALE_FACTOR])
+        return np.concatenate([delta_pos * self._delta_pos_scale_factor, delta_rot * self._delta_rot_scale_factor])
 
     def _calculate_gripper_command(self, hand_joints):
         index_tip = hand_joints[OpenXRSpec.HandJointEXT.XR_HAND_JOINT_INDEX_TIP_EXT]

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py

@@ -34,3 +34,10 @@ class FrankaCubeStackEnvCfg(stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg):
             scale=0.5,
             body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
         )
+
+        # Set the simulation parameters
+        self.sim.dt = 1 / 60
+        self.sim.render_interval = 1
+
+        self.decimation = 3
+        self.episode_length_s = 20.0