Moving retargeter and device declariation out of factory and into the devices/retargeters themselves

Author: rwiltz

docs/source/how-to/cloudxr_teleoperation.rst

@@ -935,18 +935,15 @@ The retargeting system is designed to be extensible. You can create custom retar
            # Return control commands in appropriate format
            return torch.tensor([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0])  # Example output
 
-3. Register your retargeter with the factory by adding it to the ``RETARGETER_MAP``:
+3. Register your retargeter by setting ``retargeter_type`` on the config class:
 
 .. code-block:: python
 
    # Import your retargeter at the top of your module
    from my_package.retargeters import MyCustomRetargeter, MyCustomRetargeterCfg
 
-   # Add your retargeter to the factory
-   from isaaclab.devices.teleop_device_factory import RETARGETER_MAP
-
-   # Register your retargeter type with its constructor
-   RETARGETER_MAP[MyCustomRetargeterCfg] = MyCustomRetargeter
+   # Link the config to the implementation for factory construction
+   MyCustomRetargeterCfg.retargeter_type = MyCustomRetargeter
 
 4. Now you can use your custom retargeter in teleop device configurations:
 

source/isaaclab/isaaclab/devices/device_base.py

@@ -18,8 +18,14 @@
 class DeviceCfg:
     """Configuration for teleoperation devices."""
 
+    # Whether teleoperation should start active by default
+    teleoperation_active_default: bool = True
+    # Torch device string to place output tensors on
     sim_device: str = "cpu"
+    # Retargeters that transform device data into robot commands
     retargeters: list[RetargeterCfg] = field(default_factory=list)
+    # Concrete device class to construct for this config. Set by each device module.
+    device_type: type["DeviceBase"] | None = None
 
 
 @dataclass

source/isaaclab/isaaclab/devices/gamepad/se2_gamepad.py

@@ -5,6 +5,8 @@
 
 """Gamepad controller for SE(2) control."""
 
+from __future__ import annotations
+
 import numpy as np
 import torch
 import weakref
@@ -18,16 +20,6 @@
 from ..device_base import DeviceBase, DeviceCfg
 
 
-@dataclass
-class Se2GamepadCfg(DeviceCfg):
-    """Configuration for SE2 gamepad devices."""
-
-    v_x_sensitivity: float = 1.0
-    v_y_sensitivity: float = 1.0
-    omega_z_sensitivity: float = 1.0
-    dead_zone: float = 0.01
-
-
 class Se2Gamepad(DeviceBase):
     r"""A gamepad controller for sending SE(2) commands as velocity commands.
 
@@ -209,3 +201,14 @@ def _resolve_command_buffer(self, raw_command: np.ndarray) -> np.ndarray:
         command[command_sign] *= -1
 
         return command
+
+
+@dataclass
+class Se2GamepadCfg(DeviceCfg):
+    """Configuration for SE2 gamepad devices."""
+
+    v_x_sensitivity: float = 1.0
+    v_y_sensitivity: float = 1.0
+    omega_z_sensitivity: float = 1.0
+    dead_zone: float = 0.01
+    device_type: type[DeviceBase] = Se2Gamepad

source/isaaclab/isaaclab/devices/gamepad/se3_gamepad.py

@@ -264,3 +264,7 @@ def _resolve_command_buffer(self, raw_command: np.ndarray) -> np.ndarray:
         delta_command[delta_command_sign] *= -1
 
         return delta_command
+
+
+# Link config to device for factory
+Se3GamepadCfg.device_type = Se3Gamepad

source/isaaclab/isaaclab/devices/keyboard/se2_keyboard.py

@@ -5,6 +5,8 @@
 
 """Keyboard controller for SE(2) control."""
 
+from __future__ import annotations
+
 import numpy as np
 import torch
 import weakref
@@ -17,15 +19,6 @@
 from ..device_base import DeviceBase, DeviceCfg
 
 
-@dataclass
-class Se2KeyboardCfg(DeviceCfg):
-    """Configuration for SE2 keyboard devices."""
-
-    v_x_sensitivity: float = 0.8
-    v_y_sensitivity: float = 0.4
-    omega_z_sensitivity: float = 1.0
-
-
 class Se2Keyboard(DeviceBase):
     r"""A keyboard controller for sending SE(2) commands as velocity commands.
 
@@ -178,3 +171,13 @@ def _create_key_bindings(self):
             "NUMPAD_9": np.asarray([0.0, 0.0, -1.0]) * self.omega_z_sensitivity,
             "X": np.asarray([0.0, 0.0, -1.0]) * self.omega_z_sensitivity,
         }
+
+
+@dataclass
+class Se2KeyboardCfg(DeviceCfg):
+    """Configuration for SE2 keyboard devices."""
+
+    v_x_sensitivity: float = 0.8
+    v_y_sensitivity: float = 0.4
+    omega_z_sensitivity: float = 1.0
+    device_type: type[DeviceBase] = Se2Keyboard

source/isaaclab/isaaclab/devices/keyboard/se3_keyboard.py

@@ -5,6 +5,8 @@
 
 """Keyboard controller for SE(3) control."""
 
+from __future__ import annotations
+
 import numpy as np
 import torch
 import weakref
@@ -18,16 +20,6 @@
 from ..device_base import DeviceBase, DeviceCfg
 
 
-@dataclass
-class Se3KeyboardCfg(DeviceCfg):
-    """Configuration for SE3 keyboard devices."""
-
-    gripper_term: bool = True
-    pos_sensitivity: float = 0.4
-    rot_sensitivity: float = 0.8
-    retargeters: None = None
-
-
 class Se3Keyboard(DeviceBase):
     """A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close).
 
@@ -206,3 +198,14 @@ def _create_key_bindings(self):
             "C": np.asarray([0.0, 0.0, 1.0]) * self.rot_sensitivity,
             "V": np.asarray([0.0, 0.0, -1.0]) * self.rot_sensitivity,
         }
+
+
+@dataclass
+class Se3KeyboardCfg(DeviceCfg):
+    """Configuration for SE3 keyboard devices."""
+
+    gripper_term: bool = True
+    pos_sensitivity: float = 0.4
+    rot_sensitivity: float = 0.8
+    retargeters: None = None
+    device_type: type[DeviceBase] = Se3Keyboard

source/isaaclab/isaaclab/devices/openxr/manus_vive.py

@@ -7,6 +7,8 @@
 Manus and Vive for teleoperation and interaction.
 """
 
+from __future__ import annotations
+
 import contextlib
 import numpy as np
 from collections.abc import Callable
@@ -34,13 +36,6 @@
 from .manus_vive_utils import HAND_JOINT_MAP, ManusViveIntegration
 
 
-@dataclass
-class ManusViveCfg(DeviceCfg):
-    """Configuration for Manus and Vive."""
-
-    xr_cfg: XrCfg | None = None
-
-
 class ManusVive(DeviceBase):
     """Manus gloves and Vive trackers for teleoperation and interaction.
 
@@ -246,3 +241,11 @@ def _on_teleop_command(self, event: carb.events.IEvent):
         elif "reset" in msg:
             if "RESET" in self._additional_callbacks:
                 self._additional_callbacks["RESET"]()
+
+
+@dataclass
+class ManusViveCfg(DeviceCfg):
+    """Configuration for Manus and Vive."""
+
+    xr_cfg: XrCfg | None = None
+    device_type: type[DeviceBase] = ManusVive

source/isaaclab/isaaclab/devices/openxr/openxr_device.py

@@ -5,6 +5,8 @@
 
 """OpenXR-powered device for teleoperation and interaction."""
 
+from __future__ import annotations
+
 import contextlib
 import numpy as np
 from collections.abc import Callable
@@ -26,14 +28,8 @@
 
 with contextlib.suppress(ModuleNotFoundError):
     from omni.kit.xr.core import XRCore, XRPoseValidityFlags
-from isaacsim.core.prims import SingleXFormPrim
-
-
-@dataclass
-class OpenXRDeviceCfg(DeviceCfg):
-    """Configuration for OpenXR devices."""
 
-    xr_cfg: XrCfg | None = None
+from isaacsim.core.prims import SingleXFormPrim
 
 
 class OpenXRDevice(DeviceBase):
@@ -303,3 +299,11 @@ def _on_teleop_command(self, event: carb.events.IEvent):
         elif "reset" in msg:
             if "RESET" in self._additional_callbacks:
                 self._additional_callbacks["RESET"]()
+
+
+@dataclass
+class OpenXRDeviceCfg(DeviceCfg):
+    """Configuration for OpenXR devices."""
+
+    xr_cfg: XrCfg | None = None
+    device_type: type[DeviceBase] = OpenXRDevice

source/isaaclab/isaaclab/devices/openxr/retargeters/dex/dex_retargeter.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from __future__ import annotations
+
 import contextlib
 import numpy as np
 import torch
@@ -19,15 +21,6 @@
     from .gr1_t2_dex_retargeting_utils import GR1TR2DexRetargeting
 
 
-@dataclass
-class GR1T2RetargeterCfg(RetargeterCfg):
-    """Configuration for the GR1T2 retargeter."""
-
-    enable_visualization: bool = False
-    num_open_xr_hand_joints: int = 100
-    hand_joint_names: list[str] | None = None  # List of robot hand joint names
-
-
 class GR1T2Retargeter(RetargeterBase):
     """Retargets OpenXR hand tracking data to GR1T2 hand end-effector commands.
 
@@ -156,3 +149,13 @@ def _retarget_abs(self, wrist: np.ndarray) -> np.ndarray:
         usd_right_roll_link_in_world_quat = PoseUtils.quat_from_matrix(usd_right_roll_link_in_world_mat)
 
         return np.concatenate([usd_right_roll_link_in_world_pos, usd_right_roll_link_in_world_quat])
+
+
+@dataclass
+class GR1T2RetargeterCfg(RetargeterCfg):
+    """Configuration for the GR1T2 retargeter."""
+
+    enable_visualization: bool = False
+    num_open_xr_hand_joints: int = 100
+    hand_joint_names: list[str] | None = None  # List of robot hand joint names
+    retargeter_type: type[RetargeterBase] = GR1T2Retargeter