Updates xr teleop scripts (#193)

# Description

* Add starting view port so the user can start the xr teleop right at
the ideal position to do the stacking task
* Set the XR anchormode to active camera
* Set default renderer to RTX - RealTime to avoid extra step in
operation

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] 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

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

@@ -11,6 +11,7 @@ from scipy.spatial.transform import Rotation, Slerp
 from typing import Final
 
 import carb
+from omni.kit.viewport.utility import get_active_viewport
 
 from ..device_base import DeviceBase
 
@@ -65,6 +66,11 @@ class Se3HandTracking(DeviceBase):
         self._alpha_rot = 0.5
         self._smoothed_delta_pos = np.zeros(3)
         self._smoothed_delta_rot = np.zeros(3)
+        # Set the XR anchormode to active camera
+        carb.settings.get_settings().set_string("/xrstage/profile/ar/anchorMode", "active camera")
+        # Select RTX - RealTime for Renderer
+        viewport_api = get_active_viewport()
+        viewport_api.set_hd_engine("rtx", "RaytracedLighting")
 
     def __del__(self):
         return

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -26,14 +26,11 @@ AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
 
-app_launcher_args = {}
+app_launcher_args = vars(args_cli)
 if args_cli.teleop_device.lower() == "handtracking":
-    app_launcher_args = {
-        "experience": f'{os.environ["ISAACLAB_PATH"]}/source/apps/isaaclab.python.xr.openxr.kit',
-    }
-
+    app_launcher_args["experience"] = f'{os.environ["ISAACLAB_PATH"]}/source/apps/isaaclab.python.xr.openxr.kit'
 # launch omniverse app
-app_launcher = AppLauncher(app_launcher_args, headless=args_cli.headless)
+app_launcher = AppLauncher(app_launcher_args)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
@@ -45,6 +42,8 @@ import torch
 import omni.log
 
 from omni.isaac.lab.devices import Se3Gamepad, Se3HandTracking, Se3Keyboard, Se3SpaceMouse
+from omni.isaac.lab.envs import ViewerCfg
+from omni.isaac.lab.envs.ui import ViewportCameraController
 from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
 
 import omni.isaac.lab_tasks  # noqa: F401
@@ -106,6 +105,8 @@ def main():
 
         teleop_interface = Se3HandTracking(OpenXRSpec.XrHandEXT.XR_HAND_RIGHT_EXT, False)
         teleop_interface.add_callback("RESET", env.reset)
+        viewer = ViewerCfg(eye=(-0.25, -0.3, 0.5), lookat=(0.6, 0, 0), asset_name="viewer")
+        ViewportCameraController(env, viewer)
     else:
         raise ValueError(f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse'.")
 

source/standalone/tools/record_demos.py

@@ -59,7 +59,9 @@ import time
 import torch
 
 from omni.isaac.lab.devices import Se3HandTracking, Se3Keyboard, Se3SpaceMouse
+from omni.isaac.lab.envs import ViewerCfg
 from omni.isaac.lab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
+from omni.isaac.lab.envs.ui import ViewportCameraController
 
 import omni.isaac.lab_tasks  # noqa: F401
 from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg
@@ -155,6 +157,8 @@ def main():
 
         teleop_interface = Se3HandTracking(OpenXRSpec.XrHandEXT.XR_HAND_RIGHT_EXT, False, True)
         teleop_interface.add_callback("RESET", reset_recording_instance)
+        viewer = ViewerCfg(eye=(-0.25, -0.3, 0.5), lookat=(0.6, 0, 0), asset_name="viewer")
+        ViewportCameraController(env, viewer)
     else:
         raise ValueError(
             f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse', 'handtracking'."