Only grids in VR view

[ziwen-meng]

I am using meta quest 3 and following the instructions as follow:
~/unitree_sim_isaaclab$ python sim_main.py --device cpu --enable_cameras --task Isaac-PickPlace-Cylinder-G129-Dex3-Joint --enable_dex3_dds --robot_type g129
in one terminal

and ~/xr_teleoperate/teleop/$ python teleop_hand_and_arm.py --xr-mode=hand --arm=G1_29 --ee=dex3 --sim --record in another terminal

on my head set i typed in the https address.

I successfully entered the vr mode but can only see blue grids not the robot...

[silencht]

hi! please offer two terminal's output information on this issue.

[ziwen-meng]

this is the output from the unitree isaac sim terminal

(unitree_sim_env) wendy@wendy-Legion-5-16IRX9:~/unitree_sim_isaaclab$ python sim_main.py --device cpu --enable_cameras --task Isaac-PickPlace-Cylinder-G129-Dex3-Joint --enable_dex3_dds --robot_type g129
[DDSManager] DDS system initialized
[DDSManager] DDSManager initialized
[INFO][AppLauncher]: Using device: cpu
[INFO][AppLauncher]: Loading experience file: /home/wendy/IsaacLab/apps/isaaclab.python.rendering.kit
Loading user config located at: '/home/wendy/isaacsim/kit/data/Kit/Isaac-Sim/4.5/user.config.json'
[Info] [carb] Logging to file: /home/wendy/isaacsim/kit/logs/Kit/Isaac-Sim/4.5/kit_20250801_170154.log
2025-08-01 08:01:54 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2025-08-01 08:01:54 [2ms] [Warning] [omni.ext.plugin] [ext: rendering_modes] Extensions config 'extension.toml' doesn't exist '/home/wendy/IsaacLab/apps/rendering_modes' or '/home/wendy/IsaacLab/apps/rendering_modes/config'
2025-08-01 08:01:54 [272ms] [Warning] [omni.datastore] OmniHub is inaccessible
2025-08-01 08:01:55 [742ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)
2025-08-01 08:01:55 [742ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)

|---------------------------------------------------------------------------------------------|
| Driver Version: 575.64.03     | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 4060 Laptop.. | Yes: 0 |     | 8188    MB | 10de      | 0          |
|     |                                  |        |     |            | 28e0      | 2af8a1dd.. |
|     |                                  |        |     |            | 1         |            |
|---------------------------------------------------------------------------------------------|
| 1   | Intel(R) Graphics (RPL-S)        |        |     | 23849   MB | 8086      | 0          |
|     |                                  |        |     |            | a78b      | 86808ba7.. |
|     |                                  |        |     |            | 0         |            |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-65-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12201001 (1.22.1.1)
| Processor: Intel(R) Core(TM) i7-14650HX
| Bare Metal Cores: 16 | Bare Metal Logical Cores: 32
| Available Cores:  24 
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31799 | Free Memory: 22763
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2025-08-01 08:01:55 [1,030ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
2025-08-01 08:01:55 [1,030ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
   D\D     0 
     0 198.12 
P2P=Enabled Latency (P2P Writes) Matrix (us)
   GPU     0 
     0   1.41 

   CPU     0 
     0   1.68 
2025-08-01 08:01:56 [1,841ms] [Warning] [omni.log] Source: omni.hydra was already registered.
2025-08-01 08:01:56 [2,134ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2025-08-01 08:01:57 [2,843ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
2025-08-01 08:01:58 [3,775ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/ambientOcclusion/enabled'
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/directLighting/sampledLighting/enabled'
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/indirectDiffuse/enabled'
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/raytracing/cached/enabled'
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/reflections/enabled'
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/sceneDb/ambientLightIntensity'
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/translucency/enabled'
2025-08-01 08:01:59 [5,383ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/viewTile/limit'
2025-08-01 08:01:59 [5,487ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 7508933632
2025-08-01 08:01:59 [5,487ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-08-01 08:01:59 [5,487ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 7433845248
2025-08-01 08:01:59 [5,487ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 9574251 (slope: 447, intercept: 13179904)
2025-08-01 08:01:59 [5,487ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4287216384
2025-08-01 08:01:59 [5,487ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
2025-08-01 08:01:59 [5,604ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/directLighting/sampledLighting/samplesPerPixel'
2025-08-01 08:01:59 [5,604ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/pathtracing/maxSamplesPerLaunch'
2025-08-01 08:01:59 [5,605ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults-transient/meshlights/forceDisable'
2025-08-01 08:02:00 [5,648ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/post/dlss/execMode'
[MultiImageWriter] Shared memory initialized: isaac_multi_image_shm
Setting process group: 28448
============================================================
robot control system started
Task: Isaac-PickPlace-Cylinder-G129-Dex3-Joint
Action source: dds
============================================================
[INFO]: Parsing configuration from: <class 'tasks.g1_tasks.pick_place_cylinder_g1_29dof_dex3.pickplace_cylinder_g1_29dof_dex3_joint_env_cfg.PickPlaceG129DEX3JointEnvCfg'>

create environment...
2025-08-01 08:02:02 [8,264ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
[INFO]: Base environment:
	Environment device    : cpu
	Environment seed      : None
	Physics step-size     : 0.005
	Rendering step-size   : 0.02
	Environment step-size : 0.02
2025-08-01 08:02:06 [11,736ms] [Warning] [isaaclab.scene.interactive_scene] Collision filtering can only be automatically enabled when replicate_physics=True and GPU simulation. Please call scene.filter_collisions(global_prim_paths) to filter collisions across environments.
[INFO]: Time taken for scene creation : 3.326704 seconds
[INFO]: Scene manager:  <class InteractiveScene>
	Number of environments: 1
	Environment spacing   : 2.5
	Source prim name      : /World/envs/env_0
	Global prim paths     : []
	Replicate physics     : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2025-08-01 08:02:06 [12,059ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
2025-08-01 08:02:06 [12,059ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
2025-08-01 08:02:06 [12,062ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
2025-08-01 08:02:06 [12,062ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
2025-08-01 08:02:23 [29,567ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/PackingTable/SM_CratePacking_Table_A1/SM_HeavyDutyPackingTable_C02_01.proto_M_HeavyDutyPackingTable_C01_TableTop_id1 that has not been populated
2025-08-01 08:02:24 [29,848ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 278) is below minimal input resolution of 300.
2025-08-01 08:02:24 [30,116ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
[INFO]: Time taken for simulation start : 19.895520 seconds
[INFO] Command Manager:  <CommandManager> contains 0 active terms.
+------------------------+
|  Active Command Terms  |
+--------+-------+-------+
| Index  | Name  |  Type |
+--------+-------+-------+
+--------+-------+-------+

[INFO] Event Manager:  <EventManager> contains 1 active terms.
+-----------------------------------+
| Active Event Terms in Mode: 'reset' |
+-----------+-----------------------+
|   Index   | Name                  |
+-----------+-----------------------+
|     0     | reset_object          |
+-----------+-----------------------+

[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
+---------------------+
| Active Recorder Terms |
+-----------+---------+
|   Index   | Name    |
+-----------+---------+
+-----------+---------+

[INFO] Action Manager:  <ActionManager> contains 1 active terms.
+------------------------------------+
|  Active Action Terms (shape: 43)   |
+--------+-------------+-------------+
| Index  | Name        |   Dimension |
+--------+-------------+-------------+
|   0    | joint_pos   |          43 |
+--------+-------------+-------------+

dds_manager: <dds.dds_master.DDSManager object at 0x7e1f3ef42ec0>
[DDSManager] object 'g129' not found, objects: dict_keys([])
[g1_state] G1 robot DDS communication instance obtained
g1_robot_dds is not initialized
[DDSManager] object 'dex3' not found, objects: dict_keys([])
[Observations Dex3] DDS communication instance obtained
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+------------------------------------------------+
|  Active Observation Terms in Group: 'policy'   |
+--------+----------------------+----------------+
| Index  | Name                 |     Shape      |
+--------+----------------------+----------------+
|   0    | robot_joint_state    |     (87,)      |
|   1    | robot_gipper_state   |     (14,)      |
|   2    | camera_image         | (480, 640, 3)  |
+--------+----------------------+----------------+

[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
+----------------------------+
|  Active Termination Terms  |
+-------+---------+----------+
| Index | Name    | Time Out |
+-------+---------+----------+
|   0   | success |  False   |
+-------+---------+----------+

[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
+----------------------+
| Active Curriculum Terms |
+-----------+----------+
|   Index   | Name     |
+-----------+----------+
+-----------+----------+

Creating window for environment.
[INFO]: Completed setting up the environment...

create environment success ...


***  Please left-click on the Sim window to activate rendering. ***


dds_manager: <dds.dds_master.DDSManager object at 0x7e1f3ef42ec0>
[DDSManager] object 'g129' not found, objects: dict_keys([])
[g1_state] G1 robot DDS communication instance obtained
g1_robot_dds is not initialized
[DDSManager] object 'dex3' not found, objects: dict_keys([])
[Observations Dex3] DDS communication instance obtained
========= create image server =========
[Image Server] Initializing multi-image server from shared memory
[MultiImageReader] Shared memory opened: isaac_multi_image_shm
[Image Server] Multi-image server initialized on port 5555
[Image Server] Starting send_process from shared memory...
[Image Server] Multi-image publishing thread started
========= create image server success =========
========= create dds =========
[g1_robot] Input shared memory: psm_d70e6504
[g1_robot] Output shared memory: psm_d2287112
[g1_robot] G1 robot DDS node initialized
[DDSManager] register object 'g129' success (category: 未分类)
[dex3] Input shared memory: psm_83c76df6
[dex3] Output shared memory: psm_d7564c49
[dex3] Hand DDS node initialized
[DDSManager] register object 'dex3' success (category: 未分类)
[reset_pose_dds] Output shared memory: psm_de9f8fa1
[reset_pose_dds] Reset pose DDS node initialized
[DDSManager] register object 'reset_pose' success (category: 未分类)
[sim_state_dds] Input shared memory: psm_185375e6
[sim_state_dds] Sim state DDS node initialized
[DDSManager] register object 'sim_state' success (category: 未分类)
[g1_robot] State publisher initialized (rt/lowstate)
[dex3] Hand state publisher initialized
[sim_state_dds] Sim state publisher initialized
[DDSManager] publish loop thread started
[DDSManager] manager started, managing 4 objects
[g1_robot] Create ChannelSubscriber...
[dex3] Hand command subscriber initialized
[reset_pose_dds] Reset pose command subscriber initialized
========= create dds success =========

create action provider: dds...
ActionProvider init
enable_robot: g129
enable_gripper: False
enable_dex3: True
[DDSActionProvider] DDS communication initialized
========= create controller =========
  - control frequency: 500Hz
[SimpleController] set the action provider: DDSActionProvider
========= create controller success =========
performance analysis enabled, report every 500 steps
Note: The DDS in Sim transmits messages on channel 1. Please ensure that other DDS instances use the same channel for message exchange by setting: ChannelFactoryInitialize(1).
========= start controller =========
[DDSActionProvider] ActionProvider started
[SimpleController] the controller is started
========= start controller success =========
dds_manager: <dds.dds_master.DDSManager object at 0x7e1f3ef42ec0>
[g1_state] G1 robot DDS communication instance obtained
[Observations Dex3] DDS communication instance obtained

=== While loop execution frequency statistics ===
loop execution count: 90
running time: 10.06 seconds
overall average frequency: 8.95 Hz
moving average frequency: 8.95 Hz (last 90 times)
frequency range: 6.90 - 7231.56 Hz
average loop time: 111.77 ms
recent loop time: 111.77 ms
=============================

[ziwen-meng]

and this is from the other one

tv) wendy@wendy-Legion-5-16IRX9:~/xr_teleoperate/teleop$ python teleop_hand_and_arm.py --xr-mode=hand --arm=G1_29 --ee=dex3 --sim --record
17:03:43:035144 INFO     args: Namespace(task_dir='./utils/data', frequency=60.0, xr_mode='hand', arm='G1_29', ee='dex3', record=True, motion=False, headless=False, sim=True)                     teleop_hand_and_arm.py:71
17:03:43:036721 INFO     Image client has started, waiting to receive data...                                                                                                                            image_client.py:134
17:03:43:043280 INFO     Initialize G1_29_ArmController...                                                                                                                                                   robot_arm.py:63
Serving file:///home/wendy/xr_teleoperate/teleop at /static
Visit: https://vuer.ai?grid=False
17:03:43:386063 WARNING  [G1_29_ArmController] Waiting to subscribe dds...                                                                                                                                  robot_arm.py:105
17:03:43:386304 INFO     [G1_29_ArmController] Subscribe dds ok.                                                                                                                                            robot_arm.py:106
17:03:43:391096 INFO     Current all body motor state q:                                                                                                                                                    robot_arm.py:115
                         [ 5.43907173e-02  4.52557579e-03  2.58078873e-02 -1.70767993e-01                                                                                                                                   
                           6.08474672e-01  3.14264162e-03  1.01538450e-01 -1.33256929e-03                                                                                                                                   
                          -2.14418042e-02 -2.16032162e-01  1.26488864e-01 -8.13548744e-01                                                                                                                                   
                          -8.50726664e-03  3.57273646e-04  2.31713080e-03  5.15695382e-03                                                                                                                                   
                          -4.98998445e-03 -8.91498942e-03  2.81487592e-03 -2.52378202e-04                                                                                                                                   
                          -6.09177281e-04 -3.07725091e-03  1.29323816e-02  8.39852553e-04                                                                                                                                   
                          -1.01830796e-04  9.40075424e-03  6.73932591e-05  3.40497191e-03                                                                                                                                   
                          -7.67714027e-06  0.00000000e+00  0.00000000e+00  0.00000000e+00                                                                                                                                   
                           0.00000000e+00  0.00000000e+00  0.00000000e+00]                                                                                                                                                  
                                                                                                                                                                                                                            
17:03:43:391706 INFO     Current two arms motor state q:                                                                                                                                                    robot_arm.py:116
                         [ 5.15695382e-03 -4.98998445e-03 -8.91498942e-03  2.81487592e-03                                                                                                                                   
                          -2.52378202e-04 -6.09177281e-04 -3.07725091e-03  1.29323816e-02                                                                                                                                   
                           8.39852553e-04 -1.01830796e-04  9.40075424e-03  6.73932591e-05                                                                                                                                   
                           3.40497191e-03 -7.67714027e-06]                                                                                                                                                                  
                                                                                                                                                                                                                            
17:03:43:391799 INFO     Lock all joints except two arms...                                                                                                                                                 robot_arm.py:117
                                                                                                                                                                                                                            
17:03:43:392302 INFO     Lock OK!                                                                                                                                                                           robot_arm.py:137
                                                                                                                                                                                                                            
17:03:43:393665 INFO     Initialize G1_29_ArmController OK!                                                                                                                                                 robot_arm.py:145
                                                                                                                                                                                                                            
17:03:46:769768 INFO     Initialize Dex3_1_Controller...                                                                                                                                            robot_hand_unitree.py:56
 Target link human indices is provided in the DexPilot retargeting config, which is uncommon.
If you do not know exactly how it is used, please leave it to None for default.

 Target link human indices is provided in the DexPilot retargeting config, which is uncommon.
If you do not know exactly how it is used, please leave it to None for default.

17:03:47:209170 WARNING  [Dex3_1_Controller] Waiting to subscribe dds...                                                                                                                            robot_hand_unitree.py:95
17:03:47:209269 INFO     [Dex3_1_Controller] Subscribe dds ok.                                                                                                                                      robot_hand_unitree.py:96
17:03:47:224516 INFO     Initialize Dex3_1_Controller OK!                                                                                                                                          robot_hand_unitree.py:103
                                                                                                                                                                                                                            
17:03:47:432977 INFO     [SimStateSubscriber] Started subscribing to rt/sim_state                                                                                                                     sim_state_topic.py:165
17:03:47:433118 INFO     ==> EpisodeWriter initializing...                                                                                                                                              episode_writer.py:18
                                                                                                                                                                                                                            
17:03:47:433175 INFO     ==> RerunLogger initializing...                                                                                                                                                episode_writer.py:25
                                                                                                                                                                                                                            
[2025-08-01T08:03:47Z INFO  re_sdk::spawn] A process is already listening at this address. Assuming it's a Rerun Viewer. addr=0.0.0.0:9876
17:03:47:506410 INFO     ==> RerunLogger initializing ok.                                                                                                                                               episode_writer.py:27
                                                                                                                                                                                                                            
17:03:47:507202 INFO     ==> task_dir directory already exist, now self.episode_id is:0                                                                                                                 episode_writer.py:37
                                                                                                                                                                                                                            
17:03:47:507457 INFO     ==> EpisodeWriter initialized successfully.                                                                                                                                    episode_writer.py:52
                                                                                                                                                                                                                            
17:03:47:507491 INFO     Please enter the start signal (enter 'r' to start the subsequent program)                                                                                                teleop_hand_and_arm.py:204

[ziwen-meng]

[silencht]

💥💥💥 NOTICE❗
After simulation starts, click once in the window to activate it.
The terminal will show: controller started, start main loop...

do you complete this step? because i dont see information controller started, start main loop... in your first teminal output.

[ziwen-meng]

i/ve tried clicking.. same problem
*** Please left-click on the Sim window to activate rendering. ***

dds_manager: <dds.dds_master.DDSManager object at 0x748bc654aec0>
[DDSManager] object 'g129' not found, objects: dict_keys([])
[g1_state] G1 robot DDS communication instance obtained
g1_robot_dds is not initialized
[DDSManager] object 'dex3' not found, objects: dict_keys([])
[Observations Dex3] DDS communication instance obtained
========= create image server =========
[Image Server] Initializing multi-image server from shared memory
[MultiImageReader] Shared memory opened: isaac_multi_image_shm
[Image Server] Multi-image server initialized on port 5555
[Image Server] Starting send_process from shared memory...
[Image Server] Multi-image publishing thread started
========= create image server success =========
========= create dds =========
[g1_robot] Input shared memory: psm_4df1e49a
[g1_robot] Output shared memory: psm_302d3fb8
[g1_robot] G1 robot DDS node initialized
[DDSManager] register object 'g129' success (category: 未分类)
[dex3] Input shared memory: psm_7eec3744
[dex3] Output shared memory: psm_896e31dd
[dex3] Hand DDS node initialized
[DDSManager] register object 'dex3' success (category: 未分类)
[reset_pose_dds] Output shared memory: psm_670145b3
[reset_pose_dds] Reset pose DDS node initialized
[DDSManager] register object 'reset_pose' success (category: 未分类)
[sim_state_dds] Input shared memory: psm_8f701530
[sim_state_dds] Sim state DDS node initialized
[DDSManager] register object 'sim_state' success (category: 未分类)
[g1_robot] State publisher initialized (rt/lowstate)
[dex3] Hand state publisher initialized
[sim_state_dds] Sim state publisher initialized
[DDSManager] publish loop thread started
[DDSManager] manager started, managing 4 objects
[g1_robot] Create ChannelSubscriber...
[dex3] Hand command subscriber initialized
[reset_pose_dds] Reset pose command subscriber initialized
========= create dds success =========

create action provider: dds...
ActionProvider init
enable_robot: g129
enable_gripper: False
enable_dex3: True
[DDSActionProvider] DDS communication initialized
========= create controller =========

• control frequency: 500Hz
  [SimpleController] set the action provider: DDSActionProvider
  ========= create controller success =========
  performance analysis enabled, report every 500 steps
  Note: The DDS in Sim transmits messages on channel 1. Please ensure that other DDS instances use the same channel for message exchange by setting: ChannelFactoryInitialize(1).
  ========= start controller =========
  [DDSActionProvider] ActionProvider started
  [SimpleController] the controller is started
  ========= start controller success =========
  dds_manager: <dds.dds_master.DDSManager object at 0x748bc654aec0>
  [g1_state] G1 robot DDS communication instance obtained
  [Observations Dex3] DDS communication instance obtained

[ziwen-meng]

[ziwen-meng]

[le-wei]

@ziwen-meng
I tested your workflow using the Apple Vision Pro and did not encounter any issues.
May I ask, when you press 'r' in the xr_teleoperate terminal, do you see an image like the one shown below?
In my case, I experienced this on the Apple Vision Pro, and restarting the device resolved the issue.

[ziwen-meng]

@le-wei Hi, I didn't see anything like that on my PC.

[ziwen-meng]

I tried again and now I see the same problem as #98

[Oliver9798]

see anything l

same as you, did u solve this issue?