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Enable G1 and GR1T2 tasks with kitless XR - #8789
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Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Declare SO101 IK OVPhysX and USD asset selection without replacing parent-tuned Kit/Newton presets. Restore the compatible NumPy override and lock; document source-build prerequisites and first-use runtime compilation. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Declare the versioned schema provider on the scoped OVXR extra and public index. Keep registered-task selector checks independent of the downstream teleop package. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Reconcile the consuming isaaclab-ov Stage requirement before locking and refresh its editable metadata with ordinary uv. Keep default provider pins unchanged in product source. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Build the real clutch without the unsupported orientation_offset argument. Seed its engage-relative full pose from nominal asset FK and restore those joints on each IK reset, avoiding orientation jumps or randomized home mismatch. Exercise real graph outputs through movement, release, re-engage and reset; retain joint-position task randomization and physics gains. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Pass the existing absolute-grip calibration to isaacteleop1.4 only when its constructor explicitly supports it. Keep Capture1.7 engage-relative full-home behavior unchanged. Exercise selected API semantics through real graph outputs and retain reset, optional dependencies and physics behavior. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Expose Kit, OVPhysX and Newton/MJWarp through the canonical registered-task selector. Preserve explicitly supplied simulation configs and keep robot tuning in the existing backend preparation hooks. Cover real public CLI composition for GR1T2 and both G1 tasks. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
Exercise real GR1T2 and G1 preparation settings at the teleop-owned boundary, preserving selector coverage when the optional teleop package is absent. Signed-off-by: Hougant Chen <hougantc@nvidia.com>
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Description
Prepare the G1 and GR1T2 tasks for kitless XR with Newton or OvPhysX. Apply the required hand control, joint ordering, collision and robot-model settings when a kitless backend is selected.
Builds on #8788.
The required OV runtime upgrade is tracked in #8627. These PRs leave the package pins on
mainunchanged and remain draft until the upgrade and asset-importer compatibility work are ready.This draft targets
mainand includes the earlier PRs in this series. Review the changes added by this PR separately while those PRs are pending.Type of change
Testing
Checks used OVRTX 0.6.0.1791947691 and OVStage 0.3.0.1791986420. The current OVXR package requires those versions, which conflict with
main’s 0.5/0.2 pins. A default OVXR installation remains blocked until the runtime upgrade lands.Automated checks cover the robot setup, hand actions, joint ordering and robot-model loading. G1 CPU simulation checks and both native renderer handoff tests passed. Headset testing after this rebase is pending.
Repository formatting, lint and changelog checks passed.
Registered-task CLI checks cover GR1T2 and both G1 tasks with their Kit, OVPhysX and Newton/MJWarp presets, including task-owned backend preparation. Simulation, headset and streaming checks for the updated sources remain pending.
Task-owned selector checks remain independent of teleop; teleop-owned preparation checks cover the retained GR1T2 and G1 packing-table and Newton settings.
Screenshots
No screenshots included. Visual checks after the rebase are pending.
Checklist
pre-commitchecks withuv run isaaclab --formatsource/<pkg>/changelog.d/for every touched package (do not editCHANGELOG.rstor bump package versions — CI handles that)CONTRIBUTORS.mdor my name already exists thereThe warnings checkbox remains open while the dependency upgrade and full runtime checks are pending. Local tests still report warnings from dependencies.