I’m setting up XR teleoperation in Isaac Lab-Arena. Video streams to the headset correctly, but no tracked devices register, so the robot never moves.
Setup:
- Isaac Lab-Arena (Isaac Sim 6.0.0, Isaac Lab 3.0), Dockerized
- isaacteleop 1.1.8, CloudXR Runtime 6.1.0
- Headset: Meta Quest 3S, via CloudXR.js WebXR client ( Redirecting to the stable Isaac Teleop web client )
- GPU: RTX 4090, Ubuntu 24.04, driver 580
- Task:
gr1_open_microwave, launched withrecord_demos.py --device cuda --teleop_device openxr
Symptoms:
- Video streams fine (I can look around the scene in the headset).
- Sim log:
Selected devices — Head: 'Head Device'; Eyes/Left/Right/Gamepad: '<none>'(only Push Hand Trackers listed). XR_ERROR_FORM_FACTOR_UNSUPPORTED: xrGetSystem(getInfo->formFactor) no matching system (given: 2, first: 1)XR_ERROR_VALIDATION_FAILURE: xrWaitFrame(frameState->type == 0)Warning: tracker 'ControllerTracker' update failedrepeating indefinitely.- CloudXR server log:
ERROR [processSystemInfo] Ignoring streaming dimensions 4096x4032, expected 2048x1792 - Also:
Failed to create XR anchor prim: type object 'PhysxManager' has no attribute '_get_backend_utils'
Questions:
- Is the Meta Quest 3S supported for CloudXR.js teleop? Docs list Quest 3 / Pico 4 Ultra — could the 3S’s different native resolution be causing the
4096x4032 vs 2048x1792stream-dimension rejection? - Is
XR_ERROR_FORM_FACTOR_UNSUPPORTEDthe same as GitHub issue #5221, and is there a known workaround? - Is there a device-profile /
--cloudxr_envsetting to make the runtime accept the 3S’s stream dimensions?
Already tried: adjusting per-eye resolution in the client, both controller and hand-tracking modes, VR and AR immersive modes, control-panel repositioning, accepting the cert, opening firewall ports.