Adds XR hand tracking input device (#160)

- Added the SE3_HandTracking input device which allows for XR teleop via
the SE3 interface.
- Updated the teleop_se3_agent to support hand tracking via the
`--teleop_device handtracking` flag
- Created a new .kit file `isaaclab.python.xr.openxr.kit` for supporting
teleop experiances

- 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 made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

source/apps/isaaclab.python.xr.openxr.kit

+##
+# Adapted from: _isaac_sim/apps/isaacsim.exp.xr.openxr.kit
+##
+
+[package]
+title = "Isaac Lab Python OpenXR"
+description = "An app for running Isaac Lab with OpenXR"
+version = "1.2.0"
+
+# That makes it browsable in UI with "experience" filter
+keywords = ["experience", "app", "usd"]
+
+[settings]
+# Note: This path was adapted to be respective to the kit-exe file location
+app.versionFile = "${exe-path}/VERSION"
+app.folder = "${exe-path}/"
+app.name = "Isaac-Sim"
+app.version = "4.5.0"
+
+[dependencies]
+"isaaclab.python" = {}
+"isaacsim.xr.openxr" = {}
+
+# Kit extensions
+"omni.kit.xr.system.openxr" = {}
+"omni.kit.xr.profile.ar" = {}
+
+[settings]
+# xr settings
+xr.ui.enabled = false
+xrstage.profile.ar.anchorMode = "scene origin"
+
+# Register extension folder from this repo in kit
+[settings.app.exts]
+folders = [
+    "${exe-path}/exts",  # kit extensions
+    "${exe-path}/extscore",  # kit core extensions
+    "${exe-path}/../exts",  # isaac extensions
+    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
+    "${exe-path}/../extscache",  # isaac cache extensions
+    "${exe-path}/../extsPhysics",  # isaac physics extensions
+    "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
+    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
+    "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
+    "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
+    "${app}", # needed to find other app files
+    "${app}/../extensions", # needed to find extensions in Isaac Lab
+]

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -163,7 +163,7 @@ Added
 * Added full buffer property to :class:`omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer`
 
 
-0.27.29 (2024-12-15)
+0.27.30 (2024-12-15)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -172,7 +172,7 @@ Added
 * Added action clip to all :class:`omni.isaac.lab.envs.mdp.actions`.
 
 
-0.27.28 (2024-12-14)
+0.27.29 (2024-12-14)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -181,7 +181,7 @@ Changed
 * Added check for error below threshold in state machines to ensure the state has been reached.
 
 
-0.27.27 (2024-12-13)
+0.27.28 (2024-12-13)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -190,7 +190,7 @@ Fixed
 * Fixed the shape of ``quat_w`` in the ``apply_actions`` method of :attr:`~omni.isaac.lab.env.mdp.NonHolonomicAction` (previously (N,B,4), now (N,4) since the number of root bodies B is required to be 1). Previously ``apply_actions`` errored because ``euler_xyz_from_quat`` requires inputs of shape (N,4).
 
 
-0.27.26 (2024-12-11)
+0.27.27 (2024-12-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -201,7 +201,7 @@ Changed
 * Improved documentation to clarify the usage of the :meth:`~omni.isaac.lab.envs.mdp.rewards.base_height_l2` function in both flat and rough terrain settings.
 
 
-0.27.25 (2024-12-11)
+0.27.26 (2024-12-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -211,7 +211,7 @@ Fixed
   Jacobian computed w.r.t. to the root frame of the robot. This helps ensure that root pose does not affect the tracking.
 
 
-0.27.24 (2024-12-09)
+0.27.25 (2024-12-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -221,7 +221,7 @@ Fixed
   return only the states of the specified environment IDs.
 
 
-0.27.23 (2024-12-06)
+0.27.24 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -231,7 +231,7 @@ Fixed
   :attr:`~omni.isaac.lab.assets.Articulation.root_physx_view` level.
 
 
-0.27.22 (2024-12-06)
+0.27.23 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -242,7 +242,7 @@ Changed
   disabled. Using an articulation root for rigid bodies is not needed and decreases overall performance.
 
 
-0.27.21 (2024-12-06)
+0.27.22 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -252,7 +252,7 @@ Fixed
   Earlier, the projection names used snakecase instead of camelcase.
 
 
-0.27.20 (2024-12-06)
+0.27.21 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -270,7 +270,7 @@ Changed
   :class:`~omni.isaac.lab.sensors.Camera` did not clip them and had a different behavior for both types.
 
 
-0.27.19 (2024-12-05)
+0.27.20 (2024-12-05)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -279,7 +279,7 @@ Fixed
 * Fixed the condition in ``isaaclab.sh`` that checks whether ``pre-commit`` is installed before attempting installation.
 
 
-0.27.18 (2024-12-04)
+0.27.19 (2024-12-04)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -288,7 +288,7 @@ Fixed
 * Fixed the order of the incoming parameters in :class:`omni.isaac.lab.envs.DirectMARLEnv` to correctly use ``NoiseModel`` in marl-envs.
 
 
-0.27.17 (2024-12-02)
+0.27.18 (2024-12-04)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -303,7 +303,7 @@ Added
 * Added ``replay_demos.py`` script to replay demos loaded from an HDF5 file.
 
 
-0.27.16 (2024-11-21)
+0.27.17 (2024-12-02)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -312,6 +312,15 @@ Changed
 * Changed :class:`omni.isaac.lab.envs.DirectMARLEnv` to inherit from ``Gymnasium.Env`` due to requirement from Gymnasium v1.0.0 requiring all environments to be a subclass of ``Gymnasium.Env`` when using the ``make`` interface.
 
 
+0.27.16 (2024-11-15)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the class :class:`~omni.isaac.lab.devices.Se3HandTracking` which enables XR teleop for manipulators.
+
+
 0.27.15 (2024-11-09)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py

@@ -10,6 +10,7 @@ Currently, the following categories of devices are supported:
 * **Keyboard**: Standard keyboard with WASD and arrow keys.
 * **Spacemouse**: 3D mouse with 6 degrees of freedom.
 * **Gamepad**: Gamepad with 2D two joysticks and buttons. Example: Xbox controller.
+* **OpenXR**: Uses hand tracking of index/thumb tip avg to drive the target pose. Gripping is done with pinching.
 
 All device interfaces inherit from the :class:`DeviceBase` class, which provides a
 common interface for all devices. The device interface reads the input data when
@@ -21,4 +22,5 @@ the peripheral device.
 from .device_base import DeviceBase
 from .gamepad import Se2Gamepad, Se3Gamepad
 from .keyboard import Se2Keyboard, Se3Keyboard
+from .openxr import Se3HandTracking
 from .spacemouse import Se2SpaceMouse, Se3SpaceMouse

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/openxr/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Keyboard device for SE(2) and SE(3) control."""
+
+from .se3_handtracking import Se3HandTracking

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/openxr/se3_handtracking.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""OpenXR handtracking controller for SE(3) control."""
+import contextlib
+import numpy as np
+from collections.abc import Callable
+from scipy.spatial.transform import Rotation, Slerp
+from typing import Final
+
+import carb
+
+from ..device_base import DeviceBase
+
+with contextlib.suppress(ModuleNotFoundError):
+    from isaacsim.xr.openxr import OpenXR, OpenXRSpec
+    from omni.kit.xr.core import XRCore
+
+    from . import teleop_command
+
+
+class Se3HandTracking(DeviceBase):
+    """A OpenXR powered hand tracker for sending SE(3) commands as delta poses
+    as well as teleop commands via callbacks.
+
+    The command comprises of two parts as well as callbacks for teleop commands:
+
+    * delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.
+    * gripper: a binary command to open or close the gripper.
+    *
+    * Teleop commands can be subscribed via the add_callback function, the available keys are:
+    * - "START": Resumes hand tracking flow
+    * - "STOP": Stops hand tracking flow
+    * - "RESET": signals simulation reset
+    """
+
+    GRIP_HYSTERESIS_METERS: Final[float] = 0.0254  # 1.0 inch
+    DELTA_POS_SCALE_FACTOR = 20
+    DELTA_ROT_SCALE_FACTOR = 5
+
+    def __init__(self, hand, abs=True):
+        self._openxr = OpenXR()
+        self._previous_pos = np.zeros(3)
+        self._previous_rot = np.zeros(3)
+        self._previous_grip_distance = 0.0
+        self._previous_gripper_command = False
+        self._hand = hand
+        self._abs = abs
+        self._additional_callbacks = dict()
+        self._vc = teleop_command.TeleopCommand()
+        self._vc_subscription = (
+            XRCore.get_singleton()
+            .get_message_bus()
+            .create_subscription_to_pop_by_type(
+                carb.events.type_from_string(teleop_command.TELEOP_COMMAND_RESPONSE_EVENT_TYPE), self._on_teleop_command
+            )
+        )
+        self._tracking = False
+
+    def __del__(self):
+        return
+
+    def __str__(self) -> str:
+        return ""
+
+    """
+    Operations
+    """
+
+    def reset(self):
+        self._previous_pos = np.zeros(3)
+        self._previous_rot = np.zeros(3)
+        self._previous_grip_distance = 0.0
+        self._previous_gripper_command = False
+
+    def add_callback(self, key: str, func: Callable):
+        self._additional_callbacks[key] = func
+
+    def advance(self) -> tuple[np.ndarray, bool]:
+        """Provides the result from spacemouse event state.
+
+        Returns:
+            A tuple containing the delta pose command and gripper commands.
+        """
+
+        hand_joints = self._openxr.locate_hand_joints(self._hand)
+
+        if hand_joints is None:
+            return np.zeros(6), self._previous_gripper_command
+
+        if self._abs:
+            pose = self._calculate_abs_target_pose(hand_joints)
+        else:
+            pose = self._calculate_target_delta_pose(hand_joints)
+
+        return pose, self._calculate_gripper_command(hand_joints)
+
+    """
+    Internal helpers.
+    """
+
+    def _calculate_abs_target_pose(self, hand_joints):
+        if not self._tracking:
+            return np.zeros(6)
+
+        index_tip = hand_joints[OpenXRSpec.HandJointEXT.XR_HAND_JOINT_INDEX_TIP_EXT]
+        thumb_tip = hand_joints[OpenXRSpec.HandJointEXT.XR_HAND_JOINT_THUMB_TIP_EXT]
+
+        # position:
+        if not index_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_POSITION_VALID_BIT:
+            target_pos = self._previous_pos
+        if not thumb_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_POSITION_VALID_BIT:
+            target_pos = self._previous_pos
+        else:
+            index_tip_pos = index_tip.pose.position
+            index_tip_position = np.array([index_tip_pos.x, index_tip_pos.y, index_tip_pos.z], dtype=np.float32)
+
+            thumb_tip_pos = thumb_tip.pose.position
+            thumb_tip_position = np.array([thumb_tip_pos.x, thumb_tip_pos.y, thumb_tip_pos.z], dtype=np.float32)
+
+            target_pos = (index_tip_position + thumb_tip_position) / 2
+            self._previous_pos = target_pos
+
+        # rotation
+        if not index_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_ORIENTATION_VALID_BIT:
+            target_rot = self._previous_rot
+        if not thumb_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_ORIENTATION_VALID_BIT:
+            target_rot = self._previous_rot
+        else:
+            index_tip_quat = index_tip.pose.orientation
+            index_tip_quat = np.array(
+                [index_tip_quat.x, index_tip_quat.y, index_tip_quat.z, index_tip_quat.w], dtype=np.float32
+            )
+
+            thumb_tip_quat = thumb_tip.pose.orientation
+            thumb_tip_quat = np.array(
+                [thumb_tip_quat.x, thumb_tip_quat.y, thumb_tip_quat.z, thumb_tip_quat.w], dtype=np.float32
+            )
+
+            r0 = Rotation.from_quat(index_tip_quat)
+            r1 = Rotation.from_quat(thumb_tip_quat)
+            key_times = [0, 1]
+            slerp = Slerp(key_times, Rotation.concatenate([r0, r1]))
+            interp_time = [0.5]
+            interp_rotation = slerp(interp_time)[0]
+
+            target_rot = interp_rotation.as_rotvec()
+            self._previous_rot = target_rot
+
+        return np.concatenate([target_pos, target_rot])
+
+    def _calculate_target_delta_pose(self, hand_joints):
+        index_tip = hand_joints[OpenXRSpec.HandJointEXT.XR_HAND_JOINT_INDEX_TIP_EXT]
+        thumb_tip = hand_joints[OpenXRSpec.HandJointEXT.XR_HAND_JOINT_THUMB_TIP_EXT]
+
+        # position:
+        if not index_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_POSITION_VALID_BIT:
+            delta_pos = np.zeros(3)
+        if not thumb_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_POSITION_VALID_BIT:
+            delta_pos = np.zeros(3)
+        else:
+            index_tip_pos = index_tip.pose.position
+            index_tip_position = np.array([index_tip_pos.x, index_tip_pos.y, index_tip_pos.z], dtype=np.float32)
+
+            thumb_tip_pos = thumb_tip.pose.position
+            thumb_tip_position = np.array([thumb_tip_pos.x, thumb_tip_pos.y, thumb_tip_pos.z], dtype=np.float32)
+
+            target_pos = (index_tip_position + thumb_tip_position) / 2
+            delta_pos = target_pos - self._previous_pos
+            self._previous_pos = target_pos
+
+        # rotation
+        if not index_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_ORIENTATION_VALID_BIT:
+            delta_rot = np.zeros(3)
+        if not thumb_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_ORIENTATION_VALID_BIT:
+            delta_rot = np.zeros(3)
+        else:
+            index_tip_quat = index_tip.pose.orientation
+            index_tip_quat = np.array(
+                [index_tip_quat.x, index_tip_quat.y, index_tip_quat.z, index_tip_quat.w], dtype=np.float32
+            )
+
+            thumb_tip_quat = thumb_tip.pose.orientation
+            thumb_tip_quat = np.array(
+                [thumb_tip_quat.x, thumb_tip_quat.y, thumb_tip_quat.z, thumb_tip_quat.w], dtype=np.float32
+            )
+
+            r0 = Rotation.from_quat(index_tip_quat)
+            r1 = Rotation.from_quat(thumb_tip_quat)
+            key_times = [0, 1]
+            slerp = Slerp(key_times, Rotation.concatenate([r0, r1]))
+            interp_time = [0.5]
+            interp_rotation = slerp(interp_time)[0]
+
+            target_rot = interp_rotation.as_rotvec()
+            delta_rot = target_rot - self._previous_rot
+            self._previous_rot = target_rot
+
+        # if not tracking still update prev positions but return no delta pose
+        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])
+
+    def _calculate_gripper_command(self, hand_joints):
+        index_tip = hand_joints[OpenXRSpec.HandJointEXT.XR_HAND_JOINT_INDEX_TIP_EXT]
+        thumb_tip = hand_joints[OpenXRSpec.HandJointEXT.XR_HAND_JOINT_THUMB_TIP_EXT]
+
+        if not self._tracking:
+            return self._previous_gripper_command
+        if not index_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_POSITION_VALID_BIT:
+            return self._previous_gripper_command
+        if not thumb_tip.locationFlags & OpenXRSpec.XR_SPACE_LOCATION_POSITION_VALID_BIT:
+            return self._previous_gripper_command
+
+        index_tip_pos = index_tip.pose.position
+        index_tip_pos = np.array([index_tip_pos.x, index_tip_pos.y, index_tip_pos.z], dtype=np.float32)
+        thumb_tip_pos = thumb_tip.pose.position
+        thumb_tip_pos = np.array([thumb_tip_pos.x, thumb_tip_pos.y, thumb_tip_pos.z], dtype=np.float32)
+        distance = np.linalg.norm(index_tip_pos - thumb_tip_pos)
+        if distance > self._previous_grip_distance + self.GRIP_HYSTERESIS_METERS:
+            self._previous_grip_distance = distance
+            self._previous_gripper_command = False
+        elif distance < self._previous_grip_distance - self.GRIP_HYSTERESIS_METERS:
+            self._previous_grip_distance = distance
+            self._previous_gripper_command = True
+
+        return self._previous_gripper_command
+
+    def _on_teleop_command(self, event: carb.events.IEvent):
+        msg = event.payload["message"]
+
+        if teleop_command.Actions.START in msg:
+            if "START" in self._additional_callbacks:
+                self._additional_callbacks["START"]()
+            self._tracking = True
+        elif teleop_command.Actions.STOP in msg:
+            if "STOP" in self._additional_callbacks:
+                self._additional_callbacks["STOP"]()
+            self._tracking = False
+        elif teleop_command.Actions.RESET in msg:
+            if "RESET" in self._additional_callbacks:
+                self._additional_callbacks["RESET"]()

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/openxr/teleop_command.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import carb
+from omni.kit.xr.core import XRCore
+
+TELEOP_COMMAND_EVENT_TYPE = "teleop_command"
+# The event type for outgoing teleop command response text message.
+TELEOP_COMMAND_RESPONSE_EVENT_TYPE = "teleop_command_response"
+
+
+class Actions:
+    """Class for action options."""
+
+    START: str = "START"
+    STOP: str = "STOP"
+    RESET: str = "RESET"
+    UNKNOWN: str = "UNKNOWN"
+
+
+class TeleopCommand:
+    """This class handles the message process with key word."""
+
+    def __init__(self) -> None:
+        self._message_bus = XRCore.get_singleton().get_message_bus()
+        self._incoming_message_event = carb.events.type_from_string(TELEOP_COMMAND_EVENT_TYPE)
+        self._outgoing_message_event = carb.events.type_from_string(TELEOP_COMMAND_RESPONSE_EVENT_TYPE)
+        self._subscription = self._message_bus.create_subscription_to_pop_by_type(
+            self._incoming_message_event, self._on_message
+        )
+
+    def _process_message(self, event: carb.events.IEvent):
+        """Processes the received message using key word."""
+        message_in = event.payload["message"]
+
+        if "start" in message_in:
+            message_out = Actions.START
+        elif "stop" in message_in:
+            message_out = Actions.STOP
+        elif "reset" in message_in:
+            message_out = Actions.RESET
+        else:
+            message_out = Actions.UNKNOWN
+
+        print(f"[VC-Keyword] message_out: {message_out}")
+        # Send the response back through the message bus.
+        self._message_bus.push(self._outgoing_message_event, payload={"message": message_out})
+        carb.log_info(f"Sent response: {message_out}")
+
+    def _on_message(self, event: carb.events.IEvent):
+        carb.log_info(f"Received message: {event.payload['message']}")
+        self._process_message(event)
+
+    def unsubscribe(self):
+        self._subscription.unsubscribe()

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -8,6 +8,7 @@
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import os
 
 from omni.isaac.lab.app import AppLauncher
 
@@ -25,8 +26,14 @@ AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
 
+app_launcher_args = {}
+if args_cli.teleop_device.lower() == "handtracking":
+    app_launcher_args = {
+        "experience": f'{os.environ["ISAACLAB_PATH"]}/source/apps/isaaclab.python.xr.openxr.kit',
+    }
+
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(app_launcher_args, headless=args_cli.headless)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
@@ -37,7 +44,7 @@ import torch
 
 import omni.log
 
-from omni.isaac.lab.devices import Se3Gamepad, Se3Keyboard, Se3SpaceMouse
+from omni.isaac.lab.devices import Se3Gamepad, Se3HandTracking, Se3Keyboard, Se3SpaceMouse
 from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
 
 import omni.isaac.lab_tasks  # noqa: F401
@@ -94,6 +101,11 @@ def main():
         teleop_interface = Se3Gamepad(
             pos_sensitivity=0.1 * args_cli.sensitivity, rot_sensitivity=0.1 * args_cli.sensitivity
         )
+    elif args_cli.teleop_device.lower() == "handtracking":
+        from isaacsim.xr.openxr import OpenXRSpec
+
+        teleop_interface = Se3HandTracking(OpenXRSpec.XrHandEXT.XR_HAND_RIGHT_EXT, False)
+        teleop_interface.add_callback("RESET", env.reset)
     else:
         raise ValueError(f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse'.")
     # add teleoperation key for env reset