Removing bespoke xr env adjustments

Author: rwiltz

scripts/environments/teleoperation/teleop_se3_agent.py

@@ -45,7 +45,7 @@
     # not the one installed by Isaac Sim pinocchio is required by the Pink IK controllers and the
     # GR1T2 retargeter
     import pinocchio  # noqa: F401
-if "handtracking" in args_cli.teleop_device.lower() or "motion_controllers" in args_cli.teleop_device.lower():
+if "handtracking" in args_cli.teleop_device.lower():
     app_launcher_args["xr"] = True
 
 # launch omniverse app
@@ -96,8 +96,6 @@ def main() -> None:
         env_cfg.terminations.object_reached_goal = DoneTerm(func=mdp.object_reached_goal)
 
     if args_cli.xr:
-        # External cameras are not supported with XR teleop
-        # Check for any camera configs and disable them
         env_cfg = remove_camera_configs(env_cfg)
         env_cfg.sim.render.antialiasing_mode = "DLSS"
         # Set flag for environment to know XR is enabled (if it supports it)
@@ -232,13 +230,6 @@ def stop_teleoperation() -> None:
     env.reset()
     teleop_interface.reset()
 
-    if args_cli.xr:
-        # Configure environment based on teleop device type
-        if hasattr(env.unwrapped, "setup_for_teleop_device") and callable(
-            getattr(env.unwrapped, "setup_for_teleop_device")
-        ):
-            env.unwrapped.setup_for_teleop_device(teleop_interface, args_cli)  # type: ignore[attr-defined]
-
     print("Teleoperation started. Press 'R' to reset the environment.")
 
     # simulate environment