Meta Quest for Humanoid G1 teleoperation in isaac sim

[rayrsys]

Hi,

I’m working on a thesis project involving humanoid chess manipulation with a Unitree G1 robot in Isaac Lab Arena. My goal is to collect teleoperation demonstrations using a Meta Quest 3 headset to build a dataset for VLA post-training (GR00T pipeline).

My current setup:

• Isaac Lab Arena with IsaacSim 5.1
• G1 WBC joint embodiment, fixed-base, with a chess board environment
• Ubuntu Linux with NVIDIA GPU
• Meta Quest 3 headset available

I’ve seen several possible paths for Quest 3 teleoperation:

1. CloudXR Early Access — I understand Quest 3 is supported via the CloudXR EA program. Is this the recommended path? How do I apply for access?
2. ALVR + SteamVR + OSC — The community solution described in PR feat(devices): add Meta Quest 3 body tracking via OSC protocol #4419 and the simintel blog post using body tracking via OSC protocol. Has anyone gotten this working with the G1 specifically?
3. IsaacLab’s built-in OpenXR + G1 retargeters — IsaacLab already has G1TriHandUpperBodyRetargeterCfg and G1LowerBodyStandingRetargeterCfg. Can these work with Quest 3 hand tracking via CloudXR, or are they only tested with Apple Vision Pro?

My specific needs are:

• Hand tracking (both hands) for upper body control of the G1
• Fixed-base setup (no locomotion needed)
• Ability to record demonstrations for dataset collection
• Working with IsaacSim 4.5 / Isaac Lab Arena

What would be the recommended approach for getting Quest 3 teleop working with the G1 in the current ecosystem? Any guidance on the CloudXR EA program timeline for Quest would also be appreciated.

Thanks!

[jlamperez]

Hi,

I believe this discussion might be related to the issue described here:

• [Question] Issue with Franka Teleoperation (Hand Tracking) using a Publicly Available URDF/USD Model #3594 (reply in thread)

The behavior seems very similar, especially regarding IsaacLab with Meta Quest 3 via SteamVR

Sharing in case it helps provide additional context or points to an existing workaround.

Thanks!