Move retargeters to embodiment

docs/pages/concepts/concept_embodiment_design.rst

@@ -102,7 +102,7 @@ Usage Examples
 .. code-block:: python
 
    embodiment = asset_registry.get_asset_by_name("gr1_pink")()
-   teleop_device = device_registry.get_device_by_name("avp_handtracking")()
+   teleop_device = device_registry.get_device_by_name("openxr")()
 
    environment = IsaacLabArenaEnvironment(
        embodiment=embodiment,

docs/pages/concepts/concept_teleop_devices_design.rst

@@ -85,4 +85,4 @@ Usage Examples
 .. code-block:: bash
 
    # VR hand tracking for humanoid control
-   python isaaclab_arena/scripts/teleop.py --teleop_device avp_handtracking gr1_open_microwave
+   python isaaclab_arena/scripts/teleop.py --teleop_device openxr gr1_open_microwave

docs/pages/example_workflows/static_manipulation/step_2_teleoperation.rst

@@ -69,7 +69,7 @@ Run the recording script:
      --num_demos 10 \
      --num_success_steps 2 \
      gr1_open_microwave \
-     --teleop_device avp_handtracking
+     --teleop_device openxr
 
 
 Step 4: Connect Vision Pro and Record

isaaclab_arena/embodiments/embodiment_base.py

@@ -5,6 +5,7 @@
 
 from typing import Any
 
+from isaaclab.devices.retargeter_base import RetargeterCfg
 from isaaclab.envs import ManagerBasedRLMimicEnv
 from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg
 
@@ -86,6 +87,10 @@ def get_xr_cfg(self) -> Any:
     def get_camera_cfg(self) -> Any:
         return self.camera_config
 
+    def get_retargeters(self, sim_device: str | None = None) -> dict[str, list[RetargeterCfg]]:
+        """Get the retargeters for the embodiment."""
+        return {}
+
     def _update_scene_cfg_with_robot_initial_pose(self, scene_config: Any, pose: Pose) -> Any:
         if scene_config is None or not hasattr(scene_config, "robot"):
             raise RuntimeError("scene_config must be populated with a `robot` before calling `set_robot_initial_pose`.")

isaaclab_arena/embodiments/gr1t2/gr1t2.py

@@ -16,6 +16,8 @@
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation.articulation_cfg import ArticulationCfg
 from isaaclab.devices.openxr import XrCfg
+from isaaclab.devices.openxr.retargeters import GR1T2RetargeterCfg
+from isaaclab.devices.retargeter_base import RetargeterCfg
 from isaaclab.envs import ManagerBasedRLMimicEnv
 from isaaclab.envs.mdp.actions import JointPositionActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
@@ -101,6 +103,20 @@ def __init__(self, enable_cameras: bool = False, initial_pose: Pose | None = Non
             anchor_rot=(0.70711, 0.0, 0.0, -0.70711),
         )
 
+    def get_retargeters(self, sim_device: str | None = None) -> dict[str, list[RetargeterCfg]]:
+        """Get the retargeters for the GR1T2 robot."""
+        retargeters = {
+            "openxr": [
+                GR1T2RetargeterCfg(
+                    enable_visualization=True,
+                    num_open_xr_hand_joints=52,
+                    sim_device=sim_device,
+                    hand_joint_names=self.get_action_cfg().upper_body_ik.hand_joint_names,
+                )
+            ]
+        }
+        return retargeters
+
 
 @register_asset
 class GR1T2JointEmbodiment(GR1T2EmbodimentBase):

isaaclab_arena/scripts/record_demos.py

@@ -280,7 +280,7 @@ def setup_teleop_device(callbacks: dict[str, Callable]) -> object:
                 teleop_interface = Se3SpaceMouse(Se3SpaceMouseCfg(pos_sensitivity=0.2, rot_sensitivity=0.5))
             else:
                 omni.log.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                omni.log.error("Supported devices: keyboard, spacemouse, avp_handtracking")
+                omni.log.error("Supported devices: keyboard, spacemouse, openxr")
                 exit(1)
 
             # Add callbacks to fallback device

isaaclab_arena/scripts/teleop.py

@@ -200,7 +200,7 @@ def stop_teleoperation() -> None:
                 )
             else:
                 omni.log.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                omni.log.error("Supported devices: keyboard, spacemouse, gamepad, avp_handtracking")
+                omni.log.error("Supported devices: keyboard, spacemouse, gamepad, openxr")
                 env.close()
                 simulation_app.close()
                 return

isaaclab_arena/teleop_devices/__init__.py

@@ -3,6 +3,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-from .avp_handtracking import *
 from .keyboard import *
+from .openxr import *
 from .spacemouse import *

isaaclab_arena/teleop_devices/avp_handtracking.py → isaaclab_arena/teleop_devices/openxr.py

@@ -18,40 +18,27 @@
 
 from isaaclab.devices.device_base import DevicesCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters import GR1T2RetargeterCfg
 
 from isaaclab_arena.assets.register import register_device
 from isaaclab_arena.teleop_devices.teleop_device_base import TeleopDeviceBase
 
 
 @register_device
-class HandTrackingTeleopDevice(TeleopDeviceBase):
+class OpenXRTeleopDevice(TeleopDeviceBase):
     """
-    Teleop device for hand tracking.
+    Teleop device wrapping the OpenXRDevice.
     """
 
-    name = "avp_handtracking"
+    name = "openxr"
 
-    def __init__(
-        self, sim_device: str | None = None, num_open_xr_hand_joints: int = 52, enable_visualization: bool = True
-    ):
+    def __init__(self, sim_device: str | None = None):
         super().__init__(sim_device=sim_device)
-        self.num_open_xr_hand_joints = num_open_xr_hand_joints
-        self.enable_visualization = enable_visualization
 
     def get_teleop_device_cfg(self, embodiment: object | None = None):
         return DevicesCfg(
             devices={
-                "avp_handtracking": OpenXRDeviceCfg(
-                    retargeters=[
-                        GR1T2RetargeterCfg(
-                            enable_visualization=self.enable_visualization,
-                            # number of joints in both hands
-                            num_open_xr_hand_joints=self.num_open_xr_hand_joints,
-                            sim_device=self.sim_device,
-                            hand_joint_names=embodiment.get_action_cfg().upper_body_ik.hand_joint_names,
-                        ),
-                    ],
+                "openxr": OpenXRDeviceCfg(
+                    retargeters=embodiment.get_retargeters(sim_device=self.sim_device)["openxr"],
                     sim_device=self.sim_device,
                     xr_cfg=embodiment.get_xr_cfg(),
                 ),

isaaclab_arena/tests/test_device_registry.py

@@ -12,7 +12,7 @@
 
 NUM_STEPS = 2
 HEADLESS = True
-DEVICE_NAMES = ["avp_handtracking", "spacemouse", "keyboard"]
+DEVICE_NAMES = ["openxr", "spacemouse", "keyboard"]
 
 
 def _test_all_devices_in_registry(simulation_app):