Migrate motion_controllers to new device/retargeter registry pattern

- Remove old isaaclab_arena/teleop_devices/motion_controllers.py
- Add MotionControllersCfg device to device_library.py
- Add G1WbcPinkMotionControllersRetargeter to retargeter_library.py
- Update asset_registry to handle list of retargeters (needed for motion controllers which require 2 retargeters)
- Motion controllers now follow the same pattern as other teleop devices

Author: qianl-nv

isaaclab_arena/assets/asset_registry.py

@@ -133,7 +133,13 @@ def get_teleop_device_cfg(self, device: type["TeleopDeviceBase"], embodiment: ob
         retargeter_key_str = retargeter_registry.convert_tuple_to_str(retargeter_key)
         retargeter = retargeter_registry.get_component_by_name(retargeter_key_str)()
         retargeter_cfg = retargeter.get_retargeter_cfg(embodiment, sim_device=device.sim_device)
-        retargeters = [retargeter_cfg] if retargeter_cfg is not None else []
+        # Handle both single retargeter and list of retargeters
+        if isinstance(retargeter_cfg, list):
+            retargeters = retargeter_cfg
+        elif retargeter_cfg is not None:
+            retargeters = [retargeter_cfg]
+        else:
+            retargeters = []
         device_cfg = device.get_device_cfg(retargeters=retargeters, embodiment=embodiment)
         return DevicesCfg(
             devices={

isaaclab_arena/assets/device_library.py

@@ -20,10 +20,6 @@
 
 from isaaclab.devices.keyboard import Se3KeyboardCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters import (
-    G1LowerBodyStandingMotionControllerRetargeterCfg,
-    G1TriHandUpperBodyMotionControllerGripperRetargeterCfg,
-)
 from isaaclab.devices.openxr.xr_cfg import XrAnchorRotationMode
 from isaaclab.devices.retargeter_base import RetargeterCfg
 from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
@@ -107,7 +103,6 @@ class MotionControllersCfg(TeleopDeviceBase):
     
     This device uses motion controllers instead of hand tracking for teleoperation.
     It's useful when you have VR controllers but not hand tracking capability.
-    Currently supports G1 humanoid robot with gripper control via trigger buttons.
     """
 
     name = "motion_controllers"
@@ -120,28 +115,24 @@ def __init__(self, sim_device: str | None = None):
         """
         super().__init__(sim_device=sim_device)
 
-    def get_device_cfg(self, retargeters: list[RetargeterCfg] | None = None, embodiment: object | None = None):
+    def get_device_cfg(
+        self, retargeters: list[RetargeterCfg] | None = None, embodiment: object | None = None
+    ) -> OpenXRDeviceCfg:
         """Get the teleop device configuration.
         
         Args:
-            retargeters: List of retargeters (unused for motion controllers).
+            retargeters: List of retargeters from the retargeter registry.
             embodiment: The embodiment to use for the teleop device configuration.
             
         Returns:
             OpenXRDeviceCfg: The device configuration for motion controllers.
         """
         xr_cfg = embodiment.get_xr_cfg()
+        # Motion controllers need smoothed anchor rotation following the robot prim
         xr_cfg.anchor_rotation_mode = XrAnchorRotationMode.FOLLOW_PRIM_SMOOTHED
 
         return OpenXRDeviceCfg(
-            retargeters=[
-                G1TriHandUpperBodyMotionControllerGripperRetargeterCfg(
-                    sim_device=self.sim_device,
-                ),
-                G1LowerBodyStandingMotionControllerRetargeterCfg(
-                    sim_device=self.sim_device,
-                ),
-            ],
+            retargeters=retargeters,
             sim_device=self.sim_device,
             xr_cfg=xr_cfg,
         )

isaaclab_arena/assets/retargeter_library.py

@@ -18,7 +18,11 @@
 
 from abc import ABC, abstractmethod
 
-from isaaclab.devices.openxr.retargeters import GR1T2RetargeterCfg
+from isaaclab.devices.openxr.retargeters import (
+    G1LowerBodyStandingMotionControllerRetargeterCfg,
+    G1TriHandUpperBodyMotionControllerGripperRetargeterCfg,
+    GR1T2RetargeterCfg,
+)
 from isaaclab.devices.retargeter_base import RetargeterCfg
 
 from isaaclab_arena.assets.register import register_retargeter
@@ -31,7 +35,14 @@ class RetargetterBase(ABC):
     @abstractmethod
     def get_retargeter_cfg(
         self, embodiment: object, sim_device: str, enable_visualization: bool = False
-    ) -> RetargeterCfg:
+    ) -> RetargeterCfg | list[RetargeterCfg] | None:
+        """Get retargeter configuration.
+        
+        Can return:
+        - A single RetargeterCfg
+        - A list of RetargeterCfg (for devices needing multiple retargeters)
+        - None (for devices that don't need retargeters)
+        """
         raise NotImplementedError
 
 
@@ -97,3 +108,26 @@ def get_retargeter_cfg(
         self, agibot_embodiment, sim_device: str, enable_visualization: bool = False
     ) -> RetargeterCfg | None:
         return None
+
+
+@register_retargeter
+class G1WbcPinkMotionControllersRetargeter(RetargetterBase):
+    """Retargeter for G1 WBC Pink embodiment with motion controllers (Quest controllers)."""
+
+    device = "motion_controllers"
+    embodiment = "g1_wbc_pink"
+
+    def __init__(self):
+        pass
+
+    def get_retargeter_cfg(
+        self, g1_embodiment, sim_device: str, enable_visualization: bool = False
+    ) -> list[RetargeterCfg]:
+        """Get motion controller retargeter configuration for G1.
+        
+        Returns a list of retargeters for upper body (with gripper) and lower body.
+        """
+        return [
+            G1TriHandUpperBodyMotionControllerGripperRetargeterCfg(sim_device=sim_device),
+            G1LowerBodyStandingMotionControllerRetargeterCfg(sim_device=sim_device),
+        ]