Updates the teleop_se3 and record_demos scripts with more helpful description for teleop_device parameter (#3642)

# Description
Updates the teleop_se3 and record_demos scripts with more helpful
description for teleop_device parameter. This now mentions how the
teleop device is defined per task in the env config, which devices are
"built-in" to the scripts, and that not all tasks will support every
teleop device.
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## Type of change

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- Documentation update

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Co-authored-by: Kelly Guo <[email protected]>

Author: rwiltz

scripts/environments/teleoperation/teleop_se3_agent.py

@@ -19,7 +19,11 @@
     "--teleop_device",
     type=str,
     default="keyboard",
-    help="Device for interacting with environment. Examples: keyboard, spacemouse, gamepad, handtracking, manusvive",
+    help=(
+        "Teleop device. Set here (legacy) or via the environment config. If using the environment config, pass the"
+        " device key/name defined under 'teleop_devices' (it can be a custom name, not necessarily 'handtracking')."
+        " Built-ins: keyboard, spacemouse, gamepad. Not all tasks support all built-ins."
+    ),
 )
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--sensitivity", type=float, default=1.0, help="Sensitivity factor.")

scripts/tools/record_demos.py

@@ -33,7 +33,16 @@
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Record demonstrations for Isaac Lab environments.")
 parser.add_argument("--task", type=str, required=True, help="Name of the task.")
-parser.add_argument("--teleop_device", type=str, default="keyboard", help="Device for interacting with environment.")
+parser.add_argument(
+    "--teleop_device",
+    type=str,
+    default="keyboard",
+    help=(
+        "Teleop device. Set here (legacy) or via the environment config. If using the environment config, pass the"
+        " device key/name defined under 'teleop_devices' (it can be a custom name, not necessarily 'handtracking')."
+        " Built-ins: keyboard, spacemouse, gamepad. Not all tasks support all built-ins."
+    ),
+)
 parser.add_argument(
     "--dataset_file", type=str, default="./datasets/dataset.hdf5", help="File path to export recorded demos."
 )