Using Scenes in Isaac Lab for Teleop

Unless already done, create an environment in Isaac Lab as explained in the RL in Isaac Lab example.

The environment can then be used with a keyboard controlled robot:

./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py \
    --task Isaac-Open-Kitchen-Drawer-Franka-IK-Rel-v0 \
    --num_envs 1 \
    --teleop_device keyboard

../_images/isaaclab_teleop.gif — Teleoperated robot in Isaac Lab, with a random kitchen generated with `scene_synthesizer`