diff --git a/docs/source/how-to/cloudxr_teleoperation.rst b/docs/source/how-to/cloudxr_teleoperation.rst
index 6411296116c..b21ed817211 100644
--- a/docs/source/how-to/cloudxr_teleoperation.rst
+++ b/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:
 
diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
index aa294f1dbf8..5903a09cef4 100644
--- a/source/isaaclab/config/extension.toml
+++ b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.47.4"
+version = "0.47.5"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index 2828326ff4b..b6da52b64ad 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.47.5 (2025-10-30)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Moved retargeter and device declaration out of factory and into the devices/retargeters themselves.
+
+
 0.47.4 (2025-10-30)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab/isaaclab/devices/device_base.py b/source/isaaclab/isaaclab/devices/device_base.py
index b7955468cc1..da33d9a64fd 100644
--- a/source/isaaclab/isaaclab/devices/device_base.py
+++ b/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
diff --git a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad.py b/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad.py
index dacf1cdb497..33ede14aebd 100644
--- a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad.py
+++ b/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
diff --git a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad.py b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad.py
index f30dc8357e0..3e8276fc1cd 100644
--- a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad.py
+++ b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad.py
@@ -5,6 +5,8 @@
 
 """Gamepad controller for SE(3) control."""
 
+from __future__ import annotations
+
 import numpy as np
 import torch
 import weakref
@@ -18,17 +20,6 @@
 from ..device_base import DeviceBase, DeviceCfg
 
 
-@dataclass
-class Se3GamepadCfg(DeviceCfg):
-    """Configuration for SE3 gamepad devices."""
-
-    gripper_term: bool = True
-    dead_zone: float = 0.01  # For gamepad devices
-    pos_sensitivity: float = 1.0
-    rot_sensitivity: float = 1.6
-    retargeters: None = None
-
-
 class Se3Gamepad(DeviceBase):
     """A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close).
 
@@ -264,3 +255,14 @@ def _resolve_command_buffer(self, raw_command: np.ndarray) -> np.ndarray:
         delta_command[delta_command_sign] *= -1
 
         return delta_command
+
+
+@dataclass
+class Se3GamepadCfg(DeviceCfg):
+    """Configuration for SE3 gamepad devices."""
+
+    gripper_term: bool = True
+    dead_zone: float = 0.01  # For gamepad devices
+    pos_sensitivity: float = 1.0
+    rot_sensitivity: float = 1.6
+    device_type: type[DeviceBase] = Se3Gamepad
diff --git a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard.py b/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard.py
index 45edf1145b7..a86fbe1bf25 100644
--- a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard.py
+++ b/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
diff --git a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard.py b/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard.py
index 94b654e8b17..7448a90b427 100644
--- a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard.py
+++ b/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
diff --git a/source/isaaclab/isaaclab/devices/openxr/manus_vive.py b/source/isaaclab/isaaclab/devices/openxr/manus_vive.py
index 4dda777843f..8891c1aab5c 100644
--- a/source/isaaclab/isaaclab/devices/openxr/manus_vive.py
+++ b/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
diff --git a/source/isaaclab/isaaclab/devices/openxr/openxr_device.py b/source/isaaclab/isaaclab/devices/openxr/openxr_device.py
index 4e5e0824980..011a6af3ddb 100644
--- a/source/isaaclab/isaaclab/devices/openxr/openxr_device.py
+++ b/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
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/dex/dex_retargeter.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/dex/dex_retargeter.py
deleted file mode 100644
index 2092728b231..00000000000
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/dex/dex_retargeter.py
+++ /dev/null
@@ -1,39 +0,0 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-import numpy as np
-from typing import Any
-
-from isaaclab.devices.retargeter_base import RetargeterBase
-
-
-class DexRetargeter(RetargeterBase):
-    """Retargets OpenXR hand joint data to DEX robot joint commands.
-
-    This class implements the RetargeterBase interface to convert hand tracking data
-    into a format suitable for controlling DEX robot hands.
-    """
-
-    def __init__(self):
-        """Initialize the DEX retargeter."""
-        super().__init__()
-        # TODO: Add any initialization parameters and state variables needed
-        pass
-
-    def retarget(self, joint_data: dict[str, np.ndarray]) -> Any:
-        """Convert OpenXR hand joint poses to DEX robot commands.
-
-        Args:
-            joint_data: Dictionary mapping OpenXR joint names to their pose data.
-                       Each pose is a numpy array of shape (7,) containing
-                       [x, y, z, qx, qy, qz, qw] for absolute mode or
-                       [x, y, z, roll, pitch, yaw] for relative mode.
-
-        Returns:
-            Retargeted data in the format expected by DEX robot control interface.
-            TODO: Specify the exact return type and format
-        """
-        # TODO: Implement the retargeting logic
-        raise NotImplementedError("DexRetargeter.retarget() not implemented")
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_retargeter.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_retargeter.py
index 4548c0f99cb..6f307bc0fa4 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_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
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py
index 9cf6ba09c42..7ad2a62bfe7 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py
@@ -3,20 +3,14 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from __future__ import annotations
+
 import torch
 from dataclasses import dataclass
 
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
 
 
-@dataclass
-class G1LowerBodyStandingRetargeterCfg(RetargeterCfg):
-    """Configuration for the G1 lower body standing retargeter."""
-
-    hip_height: float = 0.72
-    """Height of the G1 robot hip in meters. The value is a fixed height suitable for G1 to do tabletop manipulation."""
-
-
 class G1LowerBodyStandingRetargeter(RetargeterBase):
     """Provides lower body standing commands for the G1 robot."""
 
@@ -26,3 +20,12 @@ def __init__(self, cfg: G1LowerBodyStandingRetargeterCfg):
 
     def retarget(self, data: dict) -> torch.Tensor:
         return torch.tensor([0.0, 0.0, 0.0, self.cfg.hip_height], device=self.cfg.sim_device)
+
+
+@dataclass
+class G1LowerBodyStandingRetargeterCfg(RetargeterCfg):
+    """Configuration for the G1 lower body standing retargeter."""
+
+    hip_height: float = 0.72
+    """Height of the G1 robot hip in meters. The value is a fixed height suitable for G1 to do tabletop manipulation."""
+    retargeter_type: type[RetargeterBase] = G1LowerBodyStandingRetargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py
index 98855cc352e..39342bc522e 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_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 .g1_dex_retargeting_utils import UnitreeG1DexRetargeting
 
 
-@dataclass
-class UnitreeG1RetargeterCfg(RetargeterCfg):
-    """Configuration for the UnitreeG1 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 UnitreeG1Retargeter(RetargeterBase):
     """Retargets OpenXR hand tracking data to GR1T2 hand end-effector commands.
 
@@ -152,3 +145,13 @@ def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:
         quat = PoseUtils.quat_from_matrix(rot_mat)
 
         return np.concatenate([pos.numpy(), quat.numpy()])
+
+
+@dataclass
+class UnitreeG1RetargeterCfg(RetargeterCfg):
+    """Configuration for the UnitreeG1 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] = UnitreeG1Retargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
index 41f7f49fd9f..0e3dd6058ff 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
@@ -21,15 +21,6 @@
     from .g1_dex_retargeting_utils import G1TriHandDexRetargeting
 
 
-@dataclass
-class G1TriHandUpperBodyRetargeterCfg(RetargeterCfg):
-    """Configuration for the G1UpperBody 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 G1TriHandUpperBodyRetargeter(RetargeterBase):
     """Retargets OpenXR data to G1 upper body commands.
 
@@ -164,3 +155,13 @@ def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:
         quat = PoseUtils.quat_from_matrix(rot_mat)
 
         return np.concatenate([pos.numpy(), quat.numpy()])
+
+
+@dataclass
+class G1TriHandUpperBodyRetargeterCfg(RetargeterCfg):
+    """Configuration for the G1UpperBody 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] = G1TriHandUpperBodyRetargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/gripper_retargeter.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/gripper_retargeter.py
index 2174e148d44..a606e5ff002 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/gripper_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/gripper_retargeter.py
@@ -2,6 +2,8 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+from __future__ import annotations
+
 import numpy as np
 import torch
 from dataclasses import dataclass
@@ -11,13 +13,6 @@
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
 
 
-@dataclass
-class GripperRetargeterCfg(RetargeterCfg):
-    """Configuration for gripper retargeter."""
-
-    bound_hand: OpenXRDevice.TrackingTarget = OpenXRDevice.TrackingTarget.HAND_RIGHT
-
-
 class GripperRetargeter(RetargeterBase):
     """Retargeter specifically for gripper control based on hand tracking data.
 
@@ -90,3 +85,11 @@ def _calculate_gripper_command(self, thumb_pos: np.ndarray, index_pos: np.ndarra
             self._previous_gripper_command = True
 
         return self._previous_gripper_command
+
+
+@dataclass
+class GripperRetargeterCfg(RetargeterCfg):
+    """Configuration for gripper retargeter."""
+
+    bound_hand: OpenXRDevice.TrackingTarget = OpenXRDevice.TrackingTarget.HAND_RIGHT
+    retargeter_type: type[RetargeterBase] = GripperRetargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py
index 789ff3c44f6..72a2a82fcb2 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py
@@ -2,6 +2,8 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+from __future__ import annotations
+
 import numpy as np
 import torch
 from dataclasses import dataclass
@@ -13,17 +15,6 @@
 from isaaclab.markers.config import FRAME_MARKER_CFG
 
 
-@dataclass
-class Se3AbsRetargeterCfg(RetargeterCfg):
-    """Configuration for absolute position retargeter."""
-
-    zero_out_xy_rotation: bool = True
-    use_wrist_rotation: bool = False
-    use_wrist_position: bool = True
-    enable_visualization: bool = False
-    bound_hand: OpenXRDevice.TrackingTarget = OpenXRDevice.TrackingTarget.HAND_RIGHT
-
-
 class Se3AbsRetargeter(RetargeterBase):
     """Retargets OpenXR hand tracking data to end-effector commands using absolute positioning.
 
@@ -164,3 +155,15 @@ def _update_visualization(self):
             quat = Rotation.from_matrix(self._visualization_rot).as_quat()
             rot = np.array([np.array([quat[3], quat[0], quat[1], quat[2]])])
             self._goal_marker.visualize(translations=trans, orientations=rot)
+
+
+@dataclass
+class Se3AbsRetargeterCfg(RetargeterCfg):
+    """Configuration for absolute position retargeter."""
+
+    zero_out_xy_rotation: bool = True
+    use_wrist_rotation: bool = False
+    use_wrist_position: bool = True
+    enable_visualization: bool = False
+    bound_hand: OpenXRDevice.TrackingTarget = OpenXRDevice.TrackingTarget.HAND_RIGHT
+    retargeter_type: type[RetargeterBase] = Se3AbsRetargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py
index 1a3d80ec249..e5d68ed39cd 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py
@@ -2,6 +2,8 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+from __future__ import annotations
+
 import numpy as np
 import torch
 from dataclasses import dataclass
@@ -13,21 +15,6 @@
 from isaaclab.markers.config import FRAME_MARKER_CFG
 
 
-@dataclass
-class Se3RelRetargeterCfg(RetargeterCfg):
-    """Configuration for relative position retargeter."""
-
-    zero_out_xy_rotation: bool = True
-    use_wrist_rotation: bool = False
-    use_wrist_position: bool = True
-    delta_pos_scale_factor: float = 10.0
-    delta_rot_scale_factor: float = 10.0
-    alpha_pos: float = 0.5
-    alpha_rot: float = 0.5
-    enable_visualization: bool = False
-    bound_hand: OpenXRDevice.TrackingTarget = OpenXRDevice.TrackingTarget.HAND_RIGHT
-
-
 class Se3RelRetargeter(RetargeterBase):
     """Retargets OpenXR hand tracking data to end-effector commands using relative positioning.
 
@@ -206,3 +193,19 @@ def _update_visualization(self):
             quat = Rotation.from_matrix(self._visualization_rot).as_quat()
             rot = np.array([np.array([quat[3], quat[0], quat[1], quat[2]])])
             self._goal_marker.visualize(translations=trans, orientations=rot)
+
+
+@dataclass
+class Se3RelRetargeterCfg(RetargeterCfg):
+    """Configuration for relative position retargeter."""
+
+    zero_out_xy_rotation: bool = True
+    use_wrist_rotation: bool = False
+    use_wrist_position: bool = True
+    delta_pos_scale_factor: float = 10.0
+    delta_rot_scale_factor: float = 10.0
+    alpha_pos: float = 0.5
+    alpha_rot: float = 0.5
+    enable_visualization: bool = False
+    bound_hand: OpenXRDevice.TrackingTarget = OpenXRDevice.TrackingTarget.HAND_RIGHT
+    retargeter_type: type[RetargeterBase] = Se3RelRetargeter
diff --git a/source/isaaclab/isaaclab/devices/retargeter_base.py b/source/isaaclab/isaaclab/devices/retargeter_base.py
index 6193966d713..c4abcf8bf9c 100644
--- a/source/isaaclab/isaaclab/devices/retargeter_base.py
+++ b/source/isaaclab/isaaclab/devices/retargeter_base.py
@@ -13,6 +13,8 @@ class RetargeterCfg:
     """Base configuration for hand tracking retargeters."""
 
     sim_device: str = "cpu"
+    # Concrete retargeter class to construct for this config. Set by each retargeter module.
+    retargeter_type: type["RetargeterBase"] | None = None
 
 
 class RetargeterBase(ABC):
diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse.py b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse.py
index 190ddc19ebb..e9bd116cb6d 100644
--- a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse.py
+++ b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse.py
@@ -5,6 +5,8 @@
 
 """Spacemouse controller for SE(2) control."""
 
+from __future__ import annotations
+
 import hid
 import numpy as np
 import threading
@@ -19,16 +21,6 @@
 from .utils import convert_buffer
 
 
-@dataclass
-class Se2SpaceMouseCfg(DeviceCfg):
-    """Configuration for SE2 space mouse devices."""
-
-    v_x_sensitivity: float = 0.8
-    v_y_sensitivity: float = 0.4
-    omega_z_sensitivity: float = 1.0
-    sim_device: str = "cpu"
-
-
 class Se2SpaceMouse(DeviceBase):
     r"""A space-mouse controller for sending SE(2) commands as delta poses.
 
@@ -168,3 +160,13 @@ def _run_device(self):
                         # additional callbacks
                         if "R" in self._additional_callbacks:
                             self._additional_callbacks["R"]
+
+
+@dataclass
+class Se2SpaceMouseCfg(DeviceCfg):
+    """Configuration for SE2 space mouse devices."""
+
+    v_x_sensitivity: float = 0.8
+    v_y_sensitivity: float = 0.4
+    omega_z_sensitivity: float = 1.0
+    device_type: type[DeviceBase] = Se2SpaceMouse
diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py
index feb366ee4cd..d1845547ce1 100644
--- a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py
+++ b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py
@@ -5,6 +5,8 @@
 
 """Spacemouse controller for SE(3) control."""
 
+from __future__ import annotations
+
 import hid
 import numpy as np
 import threading
@@ -18,16 +20,6 @@
 from .utils import convert_buffer
 
 
-@dataclass
-class Se3SpaceMouseCfg(DeviceCfg):
-    """Configuration for SE3 space mouse devices."""
-
-    gripper_term: bool = True
-    pos_sensitivity: float = 0.4
-    rot_sensitivity: float = 0.8
-    retargeters: None = None
-
-
 class Se3SpaceMouse(DeviceBase):
     """A space-mouse controller for sending SE(3) commands as delta poses.
 
@@ -210,3 +202,14 @@ def _run_device(self):
                             self._additional_callbacks["R"]()
                     if data[1] == 3:
                         self._read_rotation = not self._read_rotation
+
+
+@dataclass
+class Se3SpaceMouseCfg(DeviceCfg):
+    """Configuration for SE3 space mouse devices."""
+
+    gripper_term: bool = True
+    pos_sensitivity: float = 0.4
+    rot_sensitivity: float = 0.8
+    retargeters: None = None
+    device_type: type[DeviceBase] = Se3SpaceMouse
diff --git a/source/isaaclab/isaaclab/devices/teleop_device_factory.py b/source/isaaclab/isaaclab/devices/teleop_device_factory.py
index a02029645b6..93a15d6c059 100644
--- a/source/isaaclab/isaaclab/devices/teleop_device_factory.py
+++ b/source/isaaclab/isaaclab/devices/teleop_device_factory.py
@@ -4,62 +4,14 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 """Factory to create teleoperation devices from configuration."""
-
-import contextlib
 import inspect
 from collections.abc import Callable
+from typing import cast
 
 import omni.log
 
 from isaaclab.devices import DeviceBase, DeviceCfg
-from isaaclab.devices.gamepad import Se2Gamepad, Se2GamepadCfg, Se3Gamepad, Se3GamepadCfg
-from isaaclab.devices.keyboard import Se2Keyboard, Se2KeyboardCfg, Se3Keyboard, Se3KeyboardCfg
-from isaaclab.devices.openxr.retargeters import (
-    G1LowerBodyStandingRetargeter,
-    G1LowerBodyStandingRetargeterCfg,
-    G1TriHandUpperBodyRetargeter,
-    G1TriHandUpperBodyRetargeterCfg,
-    GR1T2Retargeter,
-    GR1T2RetargeterCfg,
-    GripperRetargeter,
-    GripperRetargeterCfg,
-    Se3AbsRetargeter,
-    Se3AbsRetargeterCfg,
-    Se3RelRetargeter,
-    Se3RelRetargeterCfg,
-    UnitreeG1Retargeter,
-    UnitreeG1RetargeterCfg,
-)
-from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
-from isaaclab.devices.spacemouse import Se2SpaceMouse, Se2SpaceMouseCfg, Se3SpaceMouse, Se3SpaceMouseCfg
-
-with contextlib.suppress(ModuleNotFoundError):
-    # May fail if xr is not in use
-    from isaaclab.devices.openxr import ManusVive, ManusViveCfg, OpenXRDevice, OpenXRDeviceCfg
-
-# Map device types to their constructor and expected config type
-DEVICE_MAP: dict[type[DeviceCfg], type[DeviceBase]] = {
-    Se3KeyboardCfg: Se3Keyboard,
-    Se3SpaceMouseCfg: Se3SpaceMouse,
-    Se3GamepadCfg: Se3Gamepad,
-    Se2KeyboardCfg: Se2Keyboard,
-    Se2GamepadCfg: Se2Gamepad,
-    Se2SpaceMouseCfg: Se2SpaceMouse,
-    OpenXRDeviceCfg: OpenXRDevice,
-    ManusViveCfg: ManusVive,
-}
-
-
-# Map configuration types to their corresponding retargeter classes
-RETARGETER_MAP: dict[type[RetargeterCfg], type[RetargeterBase]] = {
-    Se3AbsRetargeterCfg: Se3AbsRetargeter,
-    Se3RelRetargeterCfg: Se3RelRetargeter,
-    GripperRetargeterCfg: GripperRetargeter,
-    GR1T2RetargeterCfg: GR1T2Retargeter,
-    G1TriHandUpperBodyRetargeterCfg: G1TriHandUpperBodyRetargeter,
-    G1LowerBodyStandingRetargeterCfg: G1LowerBodyStandingRetargeter,
-    UnitreeG1RetargeterCfg: UnitreeG1Retargeter,
-}
+from isaaclab.devices.retargeter_base import RetargeterBase
 
 
 def create_teleop_device(
@@ -86,35 +38,44 @@ def create_teleop_device(
     device_cfg = devices_cfg[device_name]
     callbacks = callbacks or {}
 
-    # Check if device config type is supported
-    cfg_type = type(device_cfg)
-    if cfg_type not in DEVICE_MAP:
-        raise ValueError(f"Unsupported device configuration type: {cfg_type.__name__}")
-
-    # Get the constructor for this config type
-    constructor = DEVICE_MAP[cfg_type]
+    # Determine constructor from the configuration itself
+    device_constructor = getattr(device_cfg, "device_type", None)
+    if device_constructor is None:
+        raise ValueError(
+            f"Device configuration '{device_name}' does not declare device_type. "
+            "Set cfg.device_type to the concrete DeviceBase subclass."
+        )
+    if not issubclass(device_constructor, DeviceBase):
+        raise TypeError(f"device_type for '{device_name}' must be a subclass of DeviceBase; got {device_constructor}")
 
     # Try to create retargeters if they are configured
     retargeters = []
     if hasattr(device_cfg, "retargeters") and device_cfg.retargeters is not None:
         try:
-            # Create retargeters based on configuration
+            # Create retargeters based on configuration using per-config retargeter_type
             for retargeter_cfg in device_cfg.retargeters:
-                cfg_type = type(retargeter_cfg)
-                if cfg_type in RETARGETER_MAP:
-                    retargeters.append(RETARGETER_MAP[cfg_type](retargeter_cfg))
-                else:
-                    raise ValueError(f"Unknown retargeter configuration type: {cfg_type.__name__}")
+                retargeter_constructor = getattr(retargeter_cfg, "retargeter_type", None)
+                if retargeter_constructor is None:
+                    raise ValueError(
+                        f"Retargeter configuration {type(retargeter_cfg).__name__} does not declare retargeter_type. "
+                        "Set cfg.retargeter_type to the concrete RetargeterBase subclass."
+                    )
+                if not issubclass(retargeter_constructor, RetargeterBase):
+                    raise TypeError(
+                        f"retargeter_type for {type(retargeter_cfg).__name__} must be a subclass of RetargeterBase; got"
+                        f" {retargeter_constructor}"
+                    )
+                retargeters.append(retargeter_constructor(retargeter_cfg))
 
         except NameError as e:
             raise ValueError(f"Failed to create retargeters: {e}")
 
-    # Check if the constructor accepts retargeters parameter
-    constructor_params = inspect.signature(constructor).parameters
-    if "retargeters" in constructor_params and retargeters:
-        device = constructor(cfg=device_cfg, retargeters=retargeters)
-    else:
-        device = constructor(cfg=device_cfg)
+    # Build constructor kwargs based on signature
+    constructor_params = inspect.signature(device_constructor).parameters
+    params: dict = {"cfg": device_cfg}
+    if "retargeters" in constructor_params:
+        params["retargeters"] = retargeters
+    device = cast(DeviceBase, device_constructor(**params))
 
     # Register callbacks
     for key, callback in callbacks.items():
diff --git a/source/isaaclab/test/devices/test_device_constructors.py b/source/isaaclab/test/devices/test_device_constructors.py
index ffe44740d01..145cf136c85 100644
--- a/source/isaaclab/test/devices/test_device_constructors.py
+++ b/source/isaaclab/test/devices/test_device_constructors.py
@@ -14,11 +14,13 @@
 
 import importlib
 import torch
+from typing import cast
 
 import pytest
 
 # Import device classes to test
 from isaaclab.devices import (
+    DeviceCfg,
     OpenXRDevice,
     OpenXRDeviceCfg,
     Se2Gamepad,
@@ -66,6 +68,11 @@ def mock_environment(mocker):
     carb_mock.input.KeyboardEventType.KEY_PRESS = 1
     carb_mock.input.KeyboardEventType.KEY_RELEASE = 2
 
+    # Mock carb events used by OpenXRDevice
+    events_mock = mocker.MagicMock()
+    events_mock.type_from_string.return_value = 0
+    carb_mock.events = events_mock
+
     # Mock the SpaceMouse
     hid_mock.enumerate.return_value = [{"product_string": "SpaceMouse Compact", "vendor_id": 123, "product_id": 456}]
     hid_mock.device.return_value = device_mock
@@ -290,6 +297,7 @@ def test_openxr_constructors(mock_environment, mocker):
             "isaacsim.core.prims": mocker.MagicMock(),
         },
     )
+    mocker.patch.object(device_mod, "carb", mock_environment["carb"])
     mocker.patch.object(device_mod, "XRCore", mock_environment["omni"].kit.xr.core.XRCore)
     mocker.patch.object(device_mod, "XRPoseValidityFlags", mock_environment["omni"].kit.xr.core.XRPoseValidityFlags)
     mock_single_xform = mocker.patch.object(device_mod, "SingleXFormPrim")
@@ -332,7 +340,7 @@ def test_create_teleop_device_basic(mock_environment, mocker):
     keyboard_cfg = Se3KeyboardCfg(pos_sensitivity=0.8, rot_sensitivity=1.2)
 
     # Create devices configuration dictionary
-    devices_cfg = {"test_keyboard": keyboard_cfg}
+    devices_cfg: dict[str, DeviceCfg] = {"test_keyboard": keyboard_cfg}
 
     # Mock Se3Keyboard class
     device_mod = importlib.import_module("isaaclab.devices.keyboard.se3_keyboard")
@@ -356,7 +364,7 @@ def test_create_teleop_device_with_callbacks(mock_environment, mocker):
     openxr_cfg = OpenXRDeviceCfg(xr_cfg=xr_cfg)
 
     # Create devices configuration dictionary
-    devices_cfg = {"test_xr": openxr_cfg}
+    devices_cfg: dict[str, DeviceCfg] = {"test_xr": openxr_cfg}
 
     # Create mock callbacks
     button_a_callback = mocker.MagicMock()
@@ -373,6 +381,7 @@ def test_create_teleop_device_with_callbacks(mock_environment, mocker):
             "isaacsim.core.prims": mocker.MagicMock(),
         },
     )
+    mocker.patch.object(device_mod, "carb", mock_environment["carb"])
     mocker.patch.object(device_mod, "XRCore", mock_environment["omni"].kit.xr.core.XRCore)
     mocker.patch.object(device_mod, "XRPoseValidityFlags", mock_environment["omni"].kit.xr.core.XRPoseValidityFlags)
     mock_single_xform = mocker.patch.object(device_mod, "SingleXFormPrim")
@@ -387,10 +396,8 @@ def test_create_teleop_device_with_callbacks(mock_environment, mocker):
     # Verify the device was created correctly
     assert isinstance(device, OpenXRDevice)
 
-    # Verify callbacks were registered
-    device.add_callback("button_a", button_a_callback)
-    device.add_callback("button_b", button_b_callback)
-    assert len(device._additional_callbacks) == 2
+    # Verify callbacks were registered by the factory
+    assert set(device._additional_callbacks.keys()) == {"button_a", "button_b"}
 
 
 def test_create_teleop_device_with_retargeters(mock_environment, mocker):
@@ -404,7 +411,7 @@ def test_create_teleop_device_with_retargeters(mock_environment, mocker):
     device_cfg = OpenXRDeviceCfg(xr_cfg=xr_cfg, retargeters=[retargeter_cfg1, retargeter_cfg2])
 
     # Create devices configuration dictionary
-    devices_cfg = {"test_xr": device_cfg}
+    devices_cfg: dict[str, DeviceCfg] = {"test_xr": device_cfg}
 
     # Mock OpenXRDevice class and dependencies
     device_mod = importlib.import_module("isaaclab.devices.openxr.openxr_device")
@@ -416,6 +423,7 @@ def test_create_teleop_device_with_retargeters(mock_environment, mocker):
             "isaacsim.core.prims": mocker.MagicMock(),
         },
     )
+    mocker.patch.object(device_mod, "carb", mock_environment["carb"])
     mocker.patch.object(device_mod, "XRCore", mock_environment["omni"].kit.xr.core.XRCore)
     mocker.patch.object(device_mod, "XRPoseValidityFlags", mock_environment["omni"].kit.xr.core.XRPoseValidityFlags)
     mock_single_xform = mocker.patch.object(device_mod, "SingleXFormPrim")
@@ -424,11 +432,6 @@ def test_create_teleop_device_with_retargeters(mock_environment, mocker):
     mock_instance = mock_single_xform.return_value
     mock_instance.prim_path = "/XRAnchor"
 
-    # Mock retargeter classes
-    retargeter_mod = importlib.import_module("isaaclab.devices.openxr.retargeters")
-    mocker.patch.object(retargeter_mod, "Se3AbsRetargeter")
-    mocker.patch.object(retargeter_mod, "GripperRetargeter")
-
     # Create the device using the factory
     device = create_teleop_device("test_xr", devices_cfg)
 
@@ -439,7 +442,7 @@ def test_create_teleop_device_with_retargeters(mock_environment, mocker):
 def test_create_teleop_device_device_not_found():
     """Test error when device name is not found in configuration."""
     # Create devices configuration dictionary
-    devices_cfg = {"keyboard": Se3KeyboardCfg()}
+    devices_cfg: dict[str, DeviceCfg] = {"keyboard": Se3KeyboardCfg()}
 
     # Try to create a non-existent device
     with pytest.raises(ValueError, match="Device 'gamepad' not found"):
@@ -454,8 +457,8 @@ class UnsupportedCfg:
         pass
 
     # Create devices configuration dictionary with unsupported config
-    devices_cfg = {"unsupported": UnsupportedCfg()}
+    devices_cfg: dict[str, DeviceCfg] = cast(dict[str, DeviceCfg], {"unsupported": UnsupportedCfg()})
 
     # Try to create a device with unsupported configuration
-    with pytest.raises(ValueError, match="Unsupported device configuration type"):
+    with pytest.raises(ValueError, match="does not declare device_type"):
         create_teleop_device("unsupported", devices_cfg)