Device Interface

Isaac Teleop device plugin (C++ level)

For new hardware that requires a custom driver or SDK. Plugins push data via OpenXR tensor collections. Existing plugins include Manus gloves, OAK-D camera, controller synthetic hands, and foot pedals. After creating the plugin, update the retargeting pipeline config to consume data from the new plugin’s source node.

See the Plugins directory for examples.

Device

• Device Trackers
  • Data Schema Convention
  • Tracker Reference
  • Usage Examples
• Add a New Device
  • Step 1: Define the data schema
  • Step 2: Implement a device plugin
  • Step 3: Implement a tracker
  • Step 4: Implement a simple C++ printer (optional)
  • Schema IO example: build and run