Skip to content

Jakob/port examples to cloudxrlauncher #703

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
nv-jakob wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Jakob/port examples to cloudxrlauncher #703

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c68d566
Add CloudXRLauncher CLI helpers for optional in-process runtime launch.
nv-jakob Jun 24, 2026
84970ea
Launch CloudXR in-process across live OpenXR examples.
nv-jakob Jun 24, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
38 changes: 20 additions & 18 deletions examples/haptic_feedback/python/controller_haptic_example.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@
ControllerInputIndex,
TactileVector,
)
from isaacteleop.cloudxr import CloudXRLauncher
from isaacteleop.teleop_session_manager import TeleopSession, TeleopSessionConfig


Expand Down Expand Up @@ -159,24 +160,25 @@ def main() -> None:
print("Press Ctrl+C to exit.\n")

frame_period_s = 1.0 / FPS
with TeleopSession(config) as session:
while True:
result = session.step()
trig_l, trig_r = (
_scalar(result, "trigger_left"),
_scalar(result, "trigger_right"),
)
hap_l, hap_r = (
_amplitude(result, "haptic_left"),
_amplitude(result, "haptic_right"),
)
line = (
f"L trig {_bar(trig_l)} {trig_l:.2f} -> L rumble {_bar(hap_l)} {hap_l:.2f}"
" | "
f"R trig {_bar(trig_r)} {trig_r:.2f} -> R rumble {_bar(hap_r)} {hap_r:.2f}"
)
print(f"\r{line:<96}", end="", flush=True)
time.sleep(frame_period_s)
with CloudXRLauncher():
with TeleopSession(config) as session:
while True:
result = session.step()
trig_l, trig_r = (
_scalar(result, "trigger_left"),
_scalar(result, "trigger_right"),
)
hap_l, hap_r = (
_amplitude(result, "haptic_left"),
_amplitude(result, "haptic_right"),
)
line = (
f"L trig {_bar(trig_l)} {trig_l:.2f} -> L rumble {_bar(hap_l)} {hap_l:.2f}"
" | "
f"R trig {_bar(trig_r)} {trig_r:.2f} -> R rumble {_bar(hap_r)} {hap_r:.2f}"
)
print(f"\r{line:<96}", end="", flush=True)
time.sleep(frame_period_s)


if __name__ == "__main__":
Expand Down
218 changes: 112 additions & 106 deletions examples/lerobot/record.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import isaacteleop.deviceio as deviceio
import isaacteleop.oxr as oxr
import isaacteleop.schema as schema
from isaacteleop.cloudxr import CloudXRLauncher
from lerobot.datasets.lerobot_dataset import LeRobotDataset


Expand Down Expand Up @@ -86,113 +87,118 @@ def main():

# Create OpenXR session
print("\nCreating OpenXR session...")
with oxr.OpenXRSession("ModularExample", required_extensions) as oxr_session:
handles = oxr_session.get_handles()
print("OpenXR session created")

# Create teleop session
print("\nInitializing teleop session...")
session = deviceio.DeviceIOSession.run(trackers, handles)

with session:
print("Teleop session initialized with all trackers!")
print()

# Main tracking loop
print("===========================================")
print("Tracking + Recording (60 seconds)...")
print("===========================================")
print()

frame_count = 0
start_time = time.time()

try:
while time.time() - start_time < 10.0:
# Update session and all trackers
session.update()

# Get hand data
left_tracked: schema.HandPoseTrackedT = hand_tracker.get_left_hand(
session
)
right_tracked: schema.HandPoseTrackedT = (
hand_tracker.get_right_hand(session)
)
head_tracked: schema.HeadPoseTrackedT = head_tracker.get_head(
session
)

# Extract positions and orientations (with defaults for invalid data)
left_pos = np.zeros(3, dtype=np.float32)
right_pos = np.zeros(3, dtype=np.float32)

if left_tracked.data is not None and left_tracked.data.joints:
wrist = left_tracked.data.joints.poses(deviceio.JOINT_WRIST)
if wrist.is_valid:
pos = wrist.pose.position
left_pos = np.array([pos.x, pos.y, pos.z], dtype=np.float32)

if right_tracked.data is not None and right_tracked.data.joints:
wrist = right_tracked.data.joints.poses(deviceio.JOINT_WRIST)
if wrist.is_valid:
pos = wrist.pose.position
right_pos = np.array(
[pos.x, pos.y, pos.z], dtype=np.float32
with CloudXRLauncher():
with oxr.OpenXRSession("ModularExample", required_extensions) as oxr_session:
handles = oxr_session.get_handles()
print("OpenXR session created")

# Create teleop session
print("\nInitializing teleop session...")
session = deviceio.DeviceIOSession.run(trackers, handles)

with session:
print("Teleop session initialized with all trackers!")
print()

# Main tracking loop
print("===========================================")
print("Tracking + Recording (60 seconds)...")
print("===========================================")
print()

frame_count = 0
start_time = time.time()

try:
while time.time() - start_time < 10.0:
# Update session and all trackers
session.update()

# Get hand data
left_tracked: schema.HandPoseTrackedT = (
hand_tracker.get_left_hand(session)
)
right_tracked: schema.HandPoseTrackedT = (
hand_tracker.get_right_hand(session)
)
head_tracked: schema.HeadPoseTrackedT = head_tracker.get_head(
session
)

# Extract positions and orientations (with defaults for invalid data)
left_pos = np.zeros(3, dtype=np.float32)
right_pos = np.zeros(3, dtype=np.float32)

if left_tracked.data is not None and left_tracked.data.joints:
wrist = left_tracked.data.joints.poses(deviceio.JOINT_WRIST)
if wrist.is_valid:
pos = wrist.pose.position
left_pos = np.array(
[pos.x, pos.y, pos.z], dtype=np.float32
)

if right_tracked.data is not None and right_tracked.data.joints:
wrist = right_tracked.data.joints.poses(
deviceio.JOINT_WRIST
)

head_pos = np.zeros(3, dtype=np.float32)
if head_tracked.data is not None and head_tracked.data.is_valid:
pos = head_tracked.data.pose.position
head_pos = np.array([pos.x, pos.y, pos.z], dtype=np.float32)

# STEP 3: Record frame to dataset
observation_head = np.concatenate(
[
head_pos, # head_pos(3)
]
)

observation_left_hand = np.concatenate(
[
left_pos, # left_hand_pos(3)
]
)

observation_right_hand = np.concatenate(
[
right_pos, # right_hand_pos(3)
]
)

dataset.add_frame(
{
"task": "teleop_tracking",
"observation.head": observation_head,
"observation.left_hand": observation_left_hand,
"observation.right_hand": observation_right_hand,
}
)

# Print every 60 frames (~1 second)
if frame_count % 60 == 0:
elapsed = time.time() - start_time
print(f"[{elapsed:4.1f}s] Frame {frame_count} recorded")

frame_count += 1
time.sleep(0.016) # ~60 FPS
except KeyboardInterrupt:
print("\nKeyboardInterrupt received, stopping recording early.")

# STEP 4: Save episode
print(f"\nSaving episode with {frame_count} frames...")
dataset.save_episode()
print("Episode saved")

# Cleanup
print(f"\nProcessed {frame_count} frames")
print("Cleaning up (RAII)...")
print("Resources will be cleaned up when exiting 'with' blocks")
if wrist.is_valid:
pos = wrist.pose.position
right_pos = np.array(
[pos.x, pos.y, pos.z], dtype=np.float32
)

head_pos = np.zeros(3, dtype=np.float32)
if head_tracked.data is not None and head_tracked.data.is_valid:
pos = head_tracked.data.pose.position
head_pos = np.array([pos.x, pos.y, pos.z], dtype=np.float32)

# STEP 3: Record frame to dataset
observation_head = np.concatenate(
[
head_pos, # head_pos(3)
]
)

observation_left_hand = np.concatenate(
[
left_pos, # left_hand_pos(3)
]
)

observation_right_hand = np.concatenate(
[
right_pos, # right_hand_pos(3)
]
)

dataset.add_frame(
{
"task": "teleop_tracking",
"observation.head": observation_head,
"observation.left_hand": observation_left_hand,
"observation.right_hand": observation_right_hand,
}
)

# Print every 60 frames (~1 second)
if frame_count % 60 == 0:
elapsed = time.time() - start_time
print(f"[{elapsed:4.1f}s] Frame {frame_count} recorded")

frame_count += 1
time.sleep(0.016) # ~60 FPS
except KeyboardInterrupt:
print("\nKeyboardInterrupt received, stopping recording early.")

# STEP 4: Save episode
print(f"\nSaving episode with {frame_count} frames...")
dataset.save_episode()
print("Episode saved")

# Cleanup
print(f"\nProcessed {frame_count} frames")
print("Cleaning up (RAII)...")
print("Resources will be cleaned up when exiting 'with' blocks")

# STEP 5: Finalize dataset (creates stats.json)
print("\nFinalizing dataset...")
Expand Down
Loading
Loading