Refactors teleop device factory to follow config class style (#3897)

# Description

Refactors the teleop factory to shift declaration of teleop devices and
retargeters out of the factory and into themselves.

Fixes # (issue)

## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

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/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.48.2"
+version = "0.48.3"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.48.3 (2025-11-13)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Moved retargeter and device declaration out of factory and into the devices/retargeters themselves.
+
+
 0.48.2 (2025-11-13)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/devices/device_base.py

@@ -18,8 +18,14 @@ from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
 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.
+    class_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 @@ import omni
 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 @@ class Se2Gamepad(DeviceBase):
         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
+    class_type: type[DeviceBase] = Se2Gamepad

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 @@ import omni
 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 @@ class Se3Gamepad(DeviceBase):
         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
+    class_type: type[DeviceBase] = Se3Gamepad

source/isaaclab/isaaclab/devices/haply/se3_haply.py

@@ -5,6 +5,8 @@
 
 """Haply device controller for SE3 control with force feedback."""
 
+from __future__ import annotations
+
 import asyncio
 import json
 import numpy as np
@@ -25,23 +27,6 @@ from ..device_base import DeviceBase, DeviceCfg
 from ..retargeter_base import RetargeterBase
 
 
-@dataclass
-class HaplyDeviceCfg(DeviceCfg):
-    """Configuration for Haply device.
-
-    Attributes:
-        websocket_uri: WebSocket URI for Haply SDK connection
-        pos_sensitivity: Position sensitivity scaling factor
-        data_rate: Data exchange rate in Hz
-        limit_force: Maximum force magnitude in Newtons (safety limit)
-    """
-
-    websocket_uri: str = "ws://localhost:10001"
-    pos_sensitivity: float = 1.0
-    data_rate: float = 200.0
-    limit_force: float = 2.0
-
-
 class HaplyDevice(DeviceBase):
     """A Haply device controller for sending SE(3) commands with force feedback.
 
@@ -387,3 +372,21 @@ class HaplyDevice(DeviceBase):
                     await asyncio.sleep(2.0)
                 else:
                     break
+
+
+@dataclass
+class HaplyDeviceCfg(DeviceCfg):
+    """Configuration for Haply device.
+
+    Attributes:
+        websocket_uri: WebSocket URI for Haply SDK connection
+        pos_sensitivity: Position sensitivity scaling factor
+        data_rate: Data exchange rate in Hz
+        limit_force: Maximum force magnitude in Newtons (safety limit)
+    """
+
+    websocket_uri: str = "ws://localhost:10001"
+    pos_sensitivity: float = 1.0
+    data_rate: float = 200.0
+    limit_force: float = 2.0
+    class_type: type[DeviceBase] = HaplyDevice

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 @@ import omni
 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 @@ class Se2Keyboard(DeviceBase):
             "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
+    class_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 @@ import omni
 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 @@ class Se3Keyboard(DeviceBase):
             "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
+    class_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 isaacsim.core.prims import SingleXFormPrim
 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 @@ class ManusVive(DeviceBase):
         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
+    class_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 @@ XRPoseValidityFlags = None
 
 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 @@ class OpenXRDevice(DeviceBase):
         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
+    class_type: type[DeviceBase] = OpenXRDevice

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

-# 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")

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 @@ with contextlib.suppress(Exception):
     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 @@ class GR1T2Retargeter(RetargeterBase):
         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

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 @@ class G1LowerBodyStandingRetargeter(RetargeterBase):
 
     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

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 @@ with contextlib.suppress(Exception):
     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 @@ class UnitreeG1Retargeter(RetargeterBase):
         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

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py

@@ -21,15 +21,6 @@ with contextlib.suppress(Exception):
     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 @@ class G1TriHandUpperBodyRetargeter(RetargeterBase):
         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

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 import OpenXRDevice
 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 @@ class GripperRetargeter(RetargeterBase):
             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

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 import VisualizationMarkers
 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 @@ class Se3AbsRetargeter(RetargeterBase):
             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

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 import VisualizationMarkers
 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 @@ class Se3RelRetargeter(RetargeterBase):
             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

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):

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 ..device_base import DeviceBase, DeviceCfg
 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 @@ class Se2SpaceMouse(DeviceBase):
                         # 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
+    class_type: type[DeviceBase] = Se2SpaceMouse

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 ..device_base import DeviceBase, DeviceCfg
 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 @@ class Se3SpaceMouse(DeviceBase):
                             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
+    class_type: type[DeviceBase] = Se3SpaceMouse

source/isaaclab/isaaclab/devices/teleop_device_factory.py

@@ -4,67 +4,17 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 """Factory to create teleoperation devices from configuration."""
-
-import contextlib
 import inspect
 import logging
 from collections.abc import Callable
+from typing import cast
 
 from isaaclab.devices import DeviceBase, DeviceCfg
-from isaaclab.devices.gamepad import Se2Gamepad, Se2GamepadCfg, Se3Gamepad, Se3GamepadCfg
-from isaaclab.devices.haply import HaplyDevice, HaplyDeviceCfg
-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
+from isaaclab.devices.retargeter_base import RetargeterBase
 
 # import logger
 logger = logging.getLogger(__name__)
 
-# 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,
-    HaplyDeviceCfg: HaplyDevice,
-    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,
-}
-
 
 def create_teleop_device(
     device_name: str, devices_cfg: dict[str, DeviceCfg], callbacks: dict[str, Callable] | None = None
@@ -90,35 +40,44 @@ 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, "class_type", None)
+    if device_constructor is None:
+        raise ValueError(
+            f"Device configuration '{device_name}' does not declare class_type. "
+            "Set cfg.class_type to the concrete DeviceBase subclass."
+        )
+    if not issubclass(device_constructor, DeviceBase):
+        raise TypeError(f"class_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():

source/isaaclab/test/devices/test_device_constructors.py

@@ -15,11 +15,13 @@ simulation_app = AppLauncher(headless=True).app
 import importlib
 import json
 import torch
+from typing import cast
 
 import pytest
 
 # Import device classes to test
 from isaaclab.devices import (
+    DeviceCfg,
     HaplyDevice,
     HaplyDeviceCfg,
     OpenXRDevice,
@@ -69,6 +71,11 @@ 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
@@ -300,6 +307,7 @@ 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")
@@ -477,7 +485,7 @@ 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")
@@ -501,7 +509,7 @@ 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()
@@ -518,6 +526,7 @@ 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")
@@ -532,10 +541,8 @@ 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):
@@ -549,7 +556,7 @@ 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")
@@ -561,6 +568,7 @@ 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")
@@ -569,11 +577,6 @@ 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)
 
@@ -584,7 +587,7 @@ 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"):
@@ -599,8 +602,8 @@ def test_create_teleop_device_unsupported_config():
         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 class_type"):
         create_teleop_device("unsupported", devices_cfg)