Fixes conflict in teleop-device command line argument in scripts (#791)

# Description

Since the move to the ``--device`` cli to set the device to run the
simulation on, this clashes with ``--device`` for the teleoperation
environments.

This MR renames ``--device`` to ``--teleop_device`` for these examples.

## Type of change

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

## 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/setup/sample.rst

@@ -106,7 +106,7 @@ To play inverse kinematics (IK) control with a keyboard device:
 
 .. code:: bash
 
-   ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --device keyboard
+   ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --teleop_device keyboard
 
 The script prints the teleoperation events configured. For keyboard,
 these are as follows:
@@ -139,7 +139,7 @@ format.
    .. code:: bash
 
       # step a: collect data with keyboard
-      ./isaaclab.sh -p source/standalone/workflows/robomimic/collect_demonstrations.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --num_demos 10 --device keyboard
+      ./isaaclab.sh -p source/standalone/workflows/robomimic/collect_demonstrations.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --num_demos 10 --teleop_device keyboard
       # step b: inspect the collected dataset
       ./isaaclab.sh -p source/standalone/workflows/robomimic/tools/inspect_demonstrations.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5
 

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -17,7 +17,7 @@ parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.")
-parser.add_argument("--device", type=str, default="keyboard", help="Device for interacting with environment")
+parser.add_argument("--teleop_device", type=str, default="keyboard", help="Device for interacting with environment")
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--sensitivity", type=float, default=1.0, help="Sensitivity factor.")
 # append AppLauncher cli args
@@ -76,20 +76,20 @@ def main():
         )
 
     # create controller
-    if args_cli.device.lower() == "keyboard":
+    if args_cli.teleop_device.lower() == "keyboard":
         teleop_interface = Se3Keyboard(
-            pos_sensitivity=0.005 * args_cli.sensitivity, rot_sensitivity=0.005 * args_cli.sensitivity
+            pos_sensitivity=0.05 * args_cli.sensitivity, rot_sensitivity=0.05 * args_cli.sensitivity
         )
-    elif args_cli.device.lower() == "spacemouse":
+    elif args_cli.teleop_device.lower() == "spacemouse":
         teleop_interface = Se3SpaceMouse(
             pos_sensitivity=0.05 * args_cli.sensitivity, rot_sensitivity=0.005 * args_cli.sensitivity
         )
-    elif args_cli.device.lower() == "gamepad":
+    elif args_cli.teleop_device.lower() == "gamepad":
         teleop_interface = Se3Gamepad(
             pos_sensitivity=0.1 * args_cli.sensitivity, rot_sensitivity=0.1 * args_cli.sensitivity
         )
     else:
-        raise ValueError(f"Invalid device interface '{args_cli.device}'. Supported: 'keyboard', 'spacemouse'.")
+        raise ValueError(f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse'.")
     # add teleoperation key for env reset
     teleop_interface.add_callback("L", env.reset)
     # print helper for keyboard

source/standalone/workflows/robomimic/collect_demonstrations.py

@@ -15,7 +15,7 @@ from omni.isaac.lab.app import AppLauncher
 parser = argparse.ArgumentParser(description="Collect demonstrations for Isaac Lab environments.")
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.")
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
-parser.add_argument("--device", type=str, default="keyboard", help="Device for interacting with environment")
+parser.add_argument("--teleop_device", type=str, default="keyboard", help="Device for interacting with environment")
 parser.add_argument("--num_demos", type=int, default=1, help="Number of episodes to store in the dataset.")
 parser.add_argument("--filename", type=str, default="hdf_dataset", help="Basename of output file.")
 # append AppLauncher cli args
@@ -83,12 +83,12 @@ def main():
     env = gym.make(args_cli.task, cfg=env_cfg)
 
     # create controller
-    if args_cli.device.lower() == "keyboard":
+    if args_cli.teleop_device.lower() == "keyboard":
         teleop_interface = Se3Keyboard(pos_sensitivity=0.04, rot_sensitivity=0.08)
-    elif args_cli.device.lower() == "spacemouse":
+    elif args_cli.teleop_device.lower() == "spacemouse":
         teleop_interface = Se3SpaceMouse(pos_sensitivity=0.05, rot_sensitivity=0.005)
     else:
-        raise ValueError(f"Invalid device interface '{args_cli.device}'. Supported: 'keyboard', 'spacemouse'.")
+        raise ValueError(f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse'.")
     # add teleoperation key for env reset
     teleop_interface.add_callback("L", env.reset)
     # print helper
@@ -107,7 +107,7 @@ def main():
         filename=args_cli.filename,
         num_demos=args_cli.num_demos,
         flush_freq=env.num_envs,
-        env_config={"device": args_cli.device},
+        env_config={"teleop_device": args_cli.teleop_device},
     )
 
     # reset environment