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Updates the teleop_se3 and record_demos scripts with more helpful description for teleop_device parameter #3642

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Merged
merged 2 commits into from
Oct 14, 2025
Merged

Updates the teleop_se3 and record_demos scripts with more helpful description for teleop_device parameter #3642

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be8290d
Updates the teleop_se3 and record_demos scripts with a more helpful p…
rwiltz Oct 7, 2025
724400a
Merge branch 'release/2.3.0' into rwiltz/update_teleop_scripts_device…
kellyguo11 Oct 13, 2025
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6 changes: 5 additions & 1 deletion scripts/environments/teleoperation/teleop_se3_agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,11 @@
"--teleop_device",
type=str,
default="keyboard",
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This always overrides to keyboard right now. Is that intentional?

help="Device for interacting with environment. Examples: keyboard, spacemouse, gamepad, handtracking, manusvive",
help=(
"Teleop device. Set here (legacy) or via the environment config. If using the environment config, pass the"
" device key/name defined under 'teleop_devices' (it can be a custom name, not necessarily 'handtracking')."
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Where is teleop_devices defined?

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In the environment config

" Built-ins: keyboard, spacemouse, gamepad. Not all tasks support all built-ins."
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Just curious, why handtracking is not one of the built-ins

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It;s robot specific and requires the retargeters to be configured.

),
)
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.")
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11 changes: 10 additions & 1 deletion scripts/tools/record_demos.py
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Expand Up @@ -33,7 +33,16 @@
# add argparse arguments
parser = argparse.ArgumentParser(description="Record demonstrations for Isaac Lab environments.")
parser.add_argument("--task", type=str, required=True, help="Name of the task.")
parser.add_argument("--teleop_device", type=str, default="keyboard", help="Device for interacting with environment.")
parser.add_argument(
"--teleop_device",
type=str,
default="keyboard",
help=(
"Teleop device. Set here (legacy) or via the environment config. If using the environment config, pass the"
" device key/name defined under 'teleop_devices' (it can be a custom name, not necessarily 'handtracking')."
" Built-ins: keyboard, spacemouse, gamepad. Not all tasks support all built-ins."
),
)
parser.add_argument(
"--dataset_file", type=str, default="./datasets/dataset.hdf5", help="File path to export recorded demos."
)
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