Adds near plane xr cfg (#347)

This PR adds a XR near plane config

- New feature (non-breaking change which adds functionality)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

apps/isaaclab.python.xr.openxr.kit

@@ -43,6 +43,7 @@ xr.depth.aov = "GBufferDepth"
 defaults.xr.profile.ar.renderQuality = "off"
 defaults.xr.profile.ar.anchorMode = "custom anchor"
 rtx.rendermode = "RaytracedLighting"
+persistent.xr.profile.ar.render.nearPlane = 0.15
 
 # Register extension folder from this repo in kit
 [settings.app.exts]

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.36.16"
+version = "0.36.17"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.36.16 (2025-04-09)
+0.36.17 (2025-04-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -12,7 +12,7 @@ Changed
   the cuda device, which results in NCCL errors on distributed setups.
 
 
-0.36.15 (2025-04-01)
+0.36.16 (2025-04-01)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -21,6 +21,15 @@ Fixed
 * Added check in RecorderManager to ensure that the success indicator is only set if the termination manager is present.
 
 
+0.36.15 (2025-03-25)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added near plane distance configuration for XR device.
+
+
 0.36.14 (2025-03-24)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/devices/openxr/openxr_device.py

@@ -93,6 +93,7 @@ class OpenXRDevice(DeviceBase):
 
         # Specify the placement of the simulation when viewed in an XR device using a prim.
         xr_anchor = SingleXFormPrim("/XRAnchor", position=self._xr_cfg.anchor_pos, orientation=self._xr_cfg.anchor_rot)
+        carb.settings.get_settings().set_float("/persistent/xr/profile/ar/render/nearPlane", self._xr_cfg.near_plane)
         carb.settings.get_settings().set_string("/persistent/xr/profile/ar/anchorMode", "custom anchor")
         carb.settings.get_settings().set_string("/xrstage/profile/ar/customAnchor", xr_anchor.prim_path)
 

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

@@ -29,3 +29,9 @@ class XrCfg:
 
     This quantity is only effective if :attr:`xr_anchor_pos` is set.
     """
+
+    near_plane: float = 0.15
+    """Specifies the near plane distance for the XR device.
+
+    This value determines the closest distance at which objects will be rendered in the XR device.
+    """