Allows external cameras in XR (#459)

Allows cameras to be enabled when XR mode is active. By default, the
record_demos.py script will strip envs of any
cameras if xr mode is used. If `--enable_cameras` is passed as an
argument to the script, externals cameras will remain
and function.

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Fixes #2491

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

@@ -22,6 +22,10 @@ app.useFabricSceneDelegate = true
 # Temporary, should be enabled by default in Kit soon
 rtx.hydra.readTransformsFromFabricInRenderDelegate = true
 
+[settings.isaaclab]
+# This is used to check that this experience file is loaded when using cameras
+cameras_enabled = true
+
 [dependencies]
 "isaaclab.python.xr.openxr" = {}
 

apps/isaaclab.python.xr.openxr.kit

@@ -38,6 +38,10 @@ rtx.hydra.readTransformsFromFabricInRenderDelegate = true
 "omni.kit.xr.system.openxr" = {}
 "omni.kit.xr.profile.ar" = {}
 
+[settings.isaaclab]
+# This is used to check that this experience file is loaded when using cameras
+cameras_enabled = true
+
 [settings]
 app.xr.enabled = true
 

scripts/tools/record_demos.py

@@ -206,9 +206,9 @@ def create_environment_config(
         )
 
     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)
+        # If cameras are not enabled and XR is enabled, remove camera configs
+        if not args_cli.enable_cameras:
+            env_cfg = remove_camera_configs(env_cfg)
         env_cfg.sim.render.antialiasing_mode = "DLSS"
 
     # modify configuration such that the environment runs indefinitely until

source/isaaclab/docs/CHANGELOG.rst

@@ -281,7 +281,7 @@ Changed
   :meth:`~isaaclab.utils.math.quat_apply` and :meth:`~isaaclab.utils.math.quat_apply_inverse` for speed.
 
 
-0.40.12 (2025-05-19)
+0.40.13 (2025-05-19)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -291,7 +291,7 @@ Fixed
   of assets and sensors.used from the experience files and the double definition is removed.
 
 
-0.40.11 (2025-01-30)
+0.40.12 (2025-01-30)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -301,7 +301,7 @@ Added
   in the simulation.
 
 
-0.40.10 (2025-05-16)
+0.40.11 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -316,8 +316,8 @@ Changed
   resampling call.
 
 
-0.40.9 (2025-05-16)
-~~~~~~~~~~~~~~~~~~~
+0.40.10 (2025-05-16)
+~~~~~~~~~~~~~~~~~~~~
 
 Fixed
 ^^^^^
@@ -325,7 +325,7 @@ Fixed
 * Fixed penetration issue for negative border height in :class:`~isaaclab.terrains.terrain_generator.TerrainGeneratorCfg`.
 
 
-0.40.8 (2025-05-20)
+0.40.9 (2025-05-20)
 ~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -340,7 +340,7 @@ Added
 * Added :meth:`~isaaclab.utils.math.rigid_body_twist_transform`
 
 
-0.40.7 (2025-05-15)
+0.40.8 (2025-05-15)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -354,14 +354,23 @@ Fixed
   unused USD camera parameters.
 
 
-0.40.6 (2025-05-14)
+0.40.7 (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.
 
 
-0.40.5 (2025-05-14)
+0.40.6 (2025-05-14)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Enabled external cameras in XR.
+
+
+0.40.5 (2025-05-23)
 ~~~~~~~~~~~~~~~~~~~
 
 Added

source/isaaclab/isaaclab/app/app_launcher.py

@@ -595,7 +595,7 @@ class AppLauncher:
     def _resolve_camera_settings(self, launcher_args: dict):
         """Resolve camera related settings."""
         enable_cameras_env = int(os.environ.get("ENABLE_CAMERAS", 0))
-        enable_cameras_arg = launcher_args.pop("enable_cameras", AppLauncher._APPLAUNCHER_CFG_INFO["enable_cameras"][1])
+        enable_cameras_arg = launcher_args.get("enable_cameras", AppLauncher._APPLAUNCHER_CFG_INFO["enable_cameras"][1])
         enable_cameras_valid_vals = {0, 1}
         if enable_cameras_env not in enable_cameras_valid_vals:
             raise ValueError(
@@ -704,7 +704,8 @@ class AppLauncher:
         isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
         if self._sim_experience_file == "":
             # check if the headless flag is set
-            if self._enable_cameras:
+            # xr rendering overrides camera rendering settings
+            if self._enable_cameras and not self._xr:
                 if self._headless and not self._livestream:
                     self._sim_experience_file = os.path.join(
                         isaaclab_app_exp_path, "isaaclab.python.headless.rendering.kit"