Add G1 Wuji teleop example

.gitattributes

@@ -11,3 +11,8 @@
 #
 # Exceptions for small source SVGs (webpack-inlined; not binary assets).
 deps/cloudxr/webxr_client/src/icons/*.svg -filter -diff -merge text
+
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.usda filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -21,6 +21,7 @@ __pycache__/
 *.pyd
 # Python virtual environments
 .venv/
+.venv-isaacteleop/
 venv/
 **/.venv/
 **/venv/
@@ -64,3 +65,17 @@ deps/v2d/wheels/
 
 # Runtime device files injected by MCP server infrastructure
 .mcp.json
+
+apv_wuji
+avp_ee_hand.md
+cmd
+AGENTS.md
+custom.env
+web.env
+example_demo
+build-local/
+deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
+deps/cloudxr/webxr_client/src/App.tsx
+deps/cloudxr/webxr_client/src/CloudXRUI.tsx
+examples/teleop/CMakeLists.txt
+examples/teleop/python/pyproject.toml

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "wuji-retargeting"]
+	path = third_party/wuji-retargeting
+	url = https://github.com/wuji-technology/wuji-retargeting.git

AGENTS.md

@@ -89,6 +89,7 @@ only point here — edit the rules in the doc, not the shims.
   ```
 
 - If a hook failure shows **missing or non-obvious repo policy** (not a one-off typo), you **must** add a **short** reminder under **Mandatory learning loop** rules to the right `AGENTS.md` or adjacent **`//` comments** so the next run does not repeat it—unless it is already documented.
+- If `pre-commit` is unavailable in the active environment, report the exact blocker and any narrower checks that did run; do not describe the pre-commit gate as passed.
 
 ## Mandatory learning loop (AGENTS.md and comments)
 
@@ -110,6 +111,8 @@ only point here — edit the rules in the doc, not the shims.
 
 - **High-level** expectations: boundaries between layers, what to avoid, naming or structural conventions, CMake/include policy at a glance, “always / never” rules that stay true across refactors.
 - **Style of work**: how minimal to keep diffs, when to ask for clarification, how this subsystem should relate to OpenXR/schema/deviceio, etc.
+- For onboarding-oriented shell helpers, keep the flow as a short step-by-step runbook and make separate Python environment responsibilities explicit instead of mixing them into one opaque setup path.
+- For shell-script comments meant for humans to follow, prefer short numbered Chinese step comments that mirror repo runbooks (for example the root `cmd` note) over scattered low-level inline commentary.
 - For build-only requests, use the documented CMake flags and environment first (for example `-DISAAC_TELEOP_PYTHON_VERSION=...`) rather than patching build files to select options.
 
 **What does *not* belong in `AGENTS.md`**

REUSE.toml

@@ -35,3 +35,13 @@ path = ".cursor/**"
 precedence = "override"
 SPDX-FileCopyrightText = "Copyright (c) NVIDIA CORPORATION & AFFILIATES. All rights reserved."
 SPDX-License-Identifier = "Apache-2.0"
+
+[[annotations]]
+path = [
+  "examples/g1_wuji_teleop/assets/g1_wuji/**",
+  "examples/g1_wuji_teleop/assets/wuji_hand/**",
+  "examples/teleop/python/assets/wuji_hand/**",
+]
+precedence = "override"
+SPDX-FileCopyrightText = "Copyright (c) NVIDIA CORPORATION & AFFILIATES. All rights reserved."
+SPDX-License-Identifier = "Apache-2.0"

avp_manus.sh

@@ -0,0 +1,173 @@
+#!/usr/bin/env bash
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# IsaacTeleop AVP + MANUS + G1-Wuji demo runbook
+#
+# Notes:
+# 1. This file is a step-by-step command guide. Do not execute it end to end
+#    with `bash avp_manus.sh`.
+# 2. A working team Isaac Lab environment is assumed. Isaac Lab installation
+#    steps are intentionally omitted here.
+# 3. This demo defaults to `examples/g1_wuji_teleop/config/avp_manus.yml`.
+#    It uses `retargeting.method=official_wuji`, so the
+#    `third_party/wuji-retargeting` submodule must be initialized first.
+# 4. The commands below assume Python 3.12. The Python major/minor version used
+#    to build `isaacteleop` must match the Python version in your Isaac Lab
+#    environment. If your Isaac Lab is not using 3.12, update the `3.12`
+#    references below accordingly.
+#
+# -----------------------------------------------------------------------------
+# 0. Enter the repository root
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+
+# -----------------------------------------------------------------------------
+# 1. Install Ubuntu system dependencies
+# -----------------------------------------------------------------------------
+
+sudo apt-get update
+sudo apt-get install -y \
+    build-essential \
+    cmake \
+    clang-format-14 \
+    ccache \
+    patchelf \
+    curl \
+    git \
+    unzip \
+    usbutils \
+    android-tools-adb \
+    coturn \
+    libx11-dev \
+    libssl-dev \
+    zlib1g-dev \
+    libc-ares-dev \
+    libzmq3-dev \
+    libncurses-dev \
+    libudev-dev \
+    libusb-1.0-0-dev \
+    libvulkan-dev \
+    glslang-tools \
+    libxrandr-dev \
+    libxinerama-dev \
+    libxcursor-dev \
+    libxi-dev \
+    libxext-dev \
+    libxkbcommon-dev \
+    libwayland-dev \
+    wayland-protocols
+
+# -----------------------------------------------------------------------------
+# 2. Create and activate the `isaacteleop` conda environment
+# -----------------------------------------------------------------------------
+
+conda create -n isaacteleop python=3.12 -y
+conda activate isaacteleop
+# From PyPI
+pip install 'isaacteleop[cloudxr,retargeters]~=1.0.0' --extra-index-url https://pypi.nvidia.com
+# python -m pip install --upgrade pip
+# python -m pip install uv pre-commit
+
+# -----------------------------------------------------------------------------
+# 3. Build IsaacTeleop from source and install the wheel into the `isaacteleop`
+#    conda environment
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+
+cmake -S . -B build \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DISAAC_TELEOP_PYTHON_VERSION=3.12 \
+    -DBUILD_VIZ=OFF \
+    -DBUILD_PLUGIN_OAK_CAMERA=OFF \
+    -DENABLE_CLANG_FORMAT_CHECK=OFF
+
+cmake --build build --parallel "$(nproc)"
+cmake --install build
+
+python -m pip install -r /path/to/IsaacTeleop/src/core/python/requirements-retargeters.txt
+python -m pip install -r /path/to/IsaacTeleop/src/core/python/requirements-cloudxr.txt
+python -m pip install --force-reinstall /path/to/IsaacTeleop/install/wheels/isaacteleop-*.whl
+
+python -c "import isaacteleop, isaacteleop.cloudxr, isaacteleop.retargeters; print(isaacteleop.__file__)"
+
+# -----------------------------------------------------------------------------
+# 4. Pull the wuji official wuji-retargeting
+# -----------------------------------------------------------------------------
+cd /path/to/IsaacTeleop
+git submodule update --init --recursive third_party/wuji-retargeting
+
+# -----------------------------------------------------------------------------
+# 5. Install MANUS host permissions and the SDK / plugin
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop/src/plugins/manus
+
+# 5.1 This step must run on the host, not inside a container
+./install_udev_rules.sh
+
+# 5.2 Unplug and replug the MANUS dongle
+
+# 5.3 Download the MANUS SDK, then build and install the plugin
+./install_manus.sh
+
+cd /path/to/IsaacTeleop
+ls -l install/plugins/manus/
+ls -l install/bin/manus_hand_tracker_printer
+
+# -----------------------------------------------------------------------------
+# 6. Open the ports required for AVP to connect to CloudXR
+# -----------------------------------------------------------------------------
+
+sudo ufw allow 48010,48322/tcp
+sudo ufw allow 47998:48000,48005,48008,48012/udp
+
+# -----------------------------------------------------------------------------
+# 7. Terminal A: start the CloudXR runtime
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+conda activate isaacteleop
+
+echo 'NV_DEVICE_PROFILE=auto-native' > custom.env
+python -m isaacteleop.cloudxr --cloudxr-env-config=./custom.env --accept-eula
+
+# Keep terminal A running.
+
+# -----------------------------------------------------------------------------
+# 8. Check the local IP address and connect from the AVP device
+# -----------------------------------------------------------------------------
+
+
+# Manual steps on the AVP side:
+# 1. Open Isaac XR Teleop Sample Client (version 3.0.0 or newer).
+# 2. Enter the Ubuntu LAN IP address found above.
+# 3. Connect and keep the session alive.
+
+# -----------------------------------------------------------------------------
+# 9. Terminal B: load the CloudXR environment and verify MANUS data first
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+source ~/.cloudxr/run/cloudxr.env
+
+./install/bin/manus_hand_tracker_printer
+
+# Once hand data and the visualization window are updating correctly, close
+# `manus_hand_tracker_printer`.
+# Note: the MANUS SDK can only be owned by one process at a time, so the
+# printer must be closed before starting the main demo.
+
+# -----------------------------------------------------------------------------
+# 10. Terminal C: run the final demo
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+source ~/.cloudxr/run/cloudxr.env
+conda activate isaacteleop
+python examples/g1_wuji_teleop/scripts/g1_wuji_teleop_main.py \
+    --config /examples/g1_wuji_teleop/config/avp_manus.yml \
+    --device cuda:0 \
+    --viz kit