[Bug Report] CloudXR AR with Apple Vision Pro - Arms not moving

[sebastian-ruiz]

I am able to run CloudXR, and I can see the red dots tracking my hands. When I start on the Vision Pro, the robot fingers move, but the arms do not move. What could be the problem?

cloudxr_handtracking_not_working.mp4

Sometimes the arms move slightly up or slightly down, but in no correlation to what my hands are doing.

System Info

• isaaclab: tag v2.3.1
• Isaac Sim Version: tag 5.1.0
• OS: Ubuntu 24.04
• GPU: RTX 5090
• CUDA: 13.0
• GPU Driver: 580.95

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

[RandomOakForest]

Thank you for posting this. The team will review it. @rwiltz for vis.

[rwiltz]

@sebastian-ruiz if you have upgraded from v2.3 or older, make sure you run the installation script for Isaac Lab (./isaaclab.sh -i). There are some IK changes that require an additional solver package in 2.3.1.

[sebastian-ruiz]

I installed isaaclab 2.3.1 from scratch. Namely:

cd /workspace && \
    rm -rf isaaclab && \
    git clone --branch v2.3.1 https://github.com/isaac-sim/IsaacLab.git isaaclab
cd /workspace/isaaclab && \
    ln -s /isaac-sim/_build/linux-x86_64/release _isaac_sim && \
    ./isaaclab.sh -i