To set up live NVIDIA Isaac Teleop, install and launch Isaac Sim, install the Isaac Teleop package, run CloudXR separately, pair a compatible headset, then configure a controller for the robot in your USD stage. Apply and enable the controller, then press Play. You can learn the controller workflow without a headset using debug mode, but that mode does not require CloudXR or the Isaac Teleop package.
Check your computer and install Isaac Sim
NVIDIA’s current Quick Install examples use Isaac Sim 6.1.0. On x86_64, NVIDIA lists Ubuntu 22.04 or 24.04 and Windows 11 as supported systems. Its minimum workstation requirements are 32 GB RAM, a 50 GB SSD, a GeForce RTX 4080, and 16 GB of VRAM; NVIDIA’s “good” tier calls for 64 GB RAM, a 500 GB SSD, and an RTX 5080. These requirements are version-sensitive, and NVIDIA says GPUs without RT Cores, including A100 and H100, are unsupported. Check the current Isaac Sim requirements and run the Isaac Sim Compatibility Checker before installing.
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For a GUI workstation, use the standalone installation path in NVIDIA’s Workstation Installation guide. The current Quick Install examples extract the archive, run ./post_install.sh, then launch with ./isaac-sim.sh on Linux. On Windows, run post_install.bat and launch isaac-sim.bat. Keep at least 50 GB free; downloading and extracting the files may temporarily require about 40 GB. First launch can take several minutes while shader caches are prepared. NVIDIA’s container route is Linux-only and intended for headless, repeatable runs.
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Live VR
The documented live workflow needs Isaac Sim, the Isaac Teleop package, a robot-containing stage, and a CloudXR-compatible VR headset on the same network as the host. NVIDIA’s tutorial mappings target Meta Quest 3; other OpenXR headsets may expose different controller-button semantics. Check headset and controller compatibility rather than assuming Quest mappings apply unchanged.
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Debug mode without a headset
Debug mode uses draggable USD markers and on-screen sliders in place of headset input. It is useful for checking stage and controller setup before arranging VR hardware, and needs neither CloudXR nor the Isaac Teleop package. MCAP input replay is another no-live-headset route, but it does require Isaac Teleop to be installed.
Install and start the live teleoperation components
- Install Isaac Sim first. Complete the workstation installation and launch it once.
- Install Isaac Teleop in the Python environment used by the tutorial:
python -m pip install "isaacteleop[cloudxr,retargeters]~=1.3.0"This command selects the 1.3 minor line of Isaac Teleop with CloudXR and retargeter extras.
- Start CloudXR in a separate terminal and leave it running:
python -m isaacteleop.cloudxr --accept-eulaCloudXR is a separate process; starting Isaac Sim alone does not start it.
- Pair the headset through the Isaac Teleop Web Client. In terminal-started setups, sourcing
~/.cloudxr/run/cloudxr.envbefore launching Isaac Sim is optional. Sourcing sets environment variables; it does not start CloudXR. - Open a robot stage. For learning, NVIDIA suggests its built-in scenario stages, including
teleop_scenario_floating_xarm_dex3.usd. - Choose how Isaac Sim should render:
./isaac-sim.shopens the desktop 2D monitor view and uses headless OpenXR tracking../isaac-sim.xr.vr.shstarts the VR experience app and renders a first-person stereo view in the headset.
Configure a controller for the robot stage
Open the Teleop window, connect the session, choose the controller type, and enter the prim paths and options that match the active USD stage. Controller configuration is stage-specific: a profile or path only works when the referenced prims and articulation structure exist in that stage.
Floating Controller
Use this for a free rigid body, commonly an end effector or gripper that is not controlled as part of an articulation chain. The target prim must be a rigid body. Rotation offsets align the gripper’s local frame with the controller’s pointing direction; proportional and derivative gains tune responsiveness and damping.
IK Controller
Use inverse kinematics to drive an articulated arm. Set the articulation root and select an end-effector link. NVIDIA suggests choosing the last arm link, such as the wrist, when gripper joints need to be driven separately.
Grasp Controller
This controller operates gripper finger joints. Its behavior and configuration depend on the gripper’s joint setup.
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Locomotion Controller
Use this for a mobile base or a teleoperation tracking space, as determined by the target prim and selected profile.
Independent reader supportYour contribution helps us test, update, and keep practical guides available for everyone.Apply, enable, and run the controller
- In the Teleop window, set the controller’s prim paths and options for the robot in the open stage.
- Select Apply to validate the prim path and prepare resources.
- Select Enable to arm the controller for the next Play action.
- Press Play on the Isaac Sim timeline to activate control. Stopping the timeline deactivates controllers.
- Use Clear when you want to release controller resources.
Save and reuse a working setup profile
Profiles are YAML snapshots of teleoperation setup, not recorded demonstrations. Isaac Teleop includes built-in profiles for sample xArm/Dex3 and UR3e configurations, but they resolve only when their referenced prims exist on the active stage. Once a configuration works, save it from the Profiles panel and reuse it with a matching stage; do not expect a profile to configure an arbitrary robot automatically.
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Record or replay a teleoperation session
Use the separate Episode Recorder window for HDF5 sessions. With a TeleopManager active, it can capture teleop controller, aim-pose, and head-pose channels alongside selected articulation, rigid-body, and Xform channels. HDF5 replay restores recorded world state without stepping physics, which supports reproducible inspection and synthetic-data generation.
MCAP replay serves a different purpose: it feeds recorded teleop inputs through the controllers again. Physics and inverse kinematics run anew, so the resulting trajectory is not guaranteed to match the original. Choose HDF5 when you need recorded world-state playback, and MCAP when you need to replay controller inputs.
Quick Recap
Troubleshoot common setup problems
- The controller connects but does not move the robot: confirm the selected controller type and prim path match the active robot stage; then Apply, Enable, and press Play.
- Connection status stays disconnected: check that the CloudXR process is still running and that you paired the headset through the Isaac Teleop Web Client.
- Control directions are wrong: check the Coordinate Frame selection (Isaac Sim uses Z-up by default) and scene yaw calibration. For a persistent custom XR anchor, NVIDIA recommends applying a scene Xform rather than editing the runtime marker hierarchy.
- You do not have suitable VR hardware: use debug mode to validate basic stage and controller configuration without CloudXR or a headset.
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