Refactors retargeters and adds Quest retargeters for G1 tasks (#3950)

# Description
This MR does the following:

- Introduces Quest retargeters for G1 env loco-manipulation tasks. This
enables lower body control via the quest controller joysticks, and upper
body control via controller tracking.
- Refactors the retargeters to *not* depend on OpenXRDevice, instead
move enums into DeviceBase and allow retargeters to be used across
devices.
- Adds XrAnchor "pinning" to a specific robot prim so that the XR view
follows the robot in the scene.

Fixes # (issue)

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (existing functionality will not work without user
modification)
- Documentation update

## Screenshots

Please attach before and after screenshots of the change if applicable.

## 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: Hougant Chen <hougantc@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: 3 people

CONTRIBUTORS.md

@@ -73,6 +73,7 @@ Guidelines for modifications:
 * HoJin Jeon
 * Hongwei Xiong
 * Hongyu Li
+* Hougant Chen
 * Huihua Zhao
 * Iretiayo Akinola
 * Jack Zeng

docs/source/api/lab/isaaclab.devices.rst

@@ -48,11 +48,13 @@ Game Pad
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 .. autoclass:: Se3Gamepad
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 Keyboard
 --------
@@ -61,11 +63,13 @@ Keyboard
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 .. autoclass:: Se3Keyboard
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 Space Mouse
 -----------
@@ -74,11 +78,13 @@ Space Mouse
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 .. autoclass:: Se3SpaceMouse
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 Haply
 -----
@@ -87,6 +93,7 @@ Haply
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 OpenXR
 ------
@@ -95,6 +102,7 @@ OpenXR
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 Manus + Vive
 ------------
@@ -103,6 +111,7 @@ Manus + Vive
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 Retargeters
 -----------
@@ -111,18 +120,22 @@ Retargeters
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 .. autoclass:: isaaclab.devices.openxr.retargeters.Se3AbsRetargeter
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 .. autoclass:: isaaclab.devices.openxr.retargeters.Se3RelRetargeter
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:
 
 .. autoclass:: isaaclab.devices.openxr.retargeters.GR1T2Retargeter
     :members:
     :inherited-members:
     :show-inheritance:
+    :noindex:

docs/source/how-to/cloudxr_teleoperation.rst

@@ -721,11 +721,11 @@ Here's an example of setting up hand tracking:
 
    # Create retargeters
    position_retargeter = Se3AbsRetargeter(
-       bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT,
+       bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
        zero_out_xy_rotation=True,
        use_wrist_position=False  # Use pinch position (thumb-index midpoint) instead of wrist
    )
-   gripper_retargeter = GripperRetargeter(bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT)
+   gripper_retargeter = GripperRetargeter(bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT)
 
    # Create OpenXR device with hand tracking and both retargeters
    device = OpenXRDevice(
@@ -919,15 +919,15 @@ The retargeting system is designed to be extensible. You can create custom retar
                Any: The transformed control commands for the robot.
            """
            # Access hand tracking data using TrackingTarget enum
-           right_hand_data = data[OpenXRDevice.TrackingTarget.HAND_RIGHT]
+           right_hand_data = data[DeviceBase.TrackingTarget.HAND_RIGHT]
 
            # Extract specific joint positions and orientations
            wrist_pose = right_hand_data.get("wrist")
            thumb_tip_pose = right_hand_data.get("thumb_tip")
            index_tip_pose = right_hand_data.get("index_tip")
 
            # Access head tracking data
-           head_pose = data[OpenXRDevice.TrackingTarget.HEAD]
+           head_pose = data[DeviceBase.TrackingTarget.HEAD]
 
            # Process the tracking data and apply your custom logic
            # ...

scripts/environments/teleoperation/teleop_se3_agent.py

@@ -3,7 +3,11 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Script to run a keyboard teleoperation with Isaac Lab manipulation environments."""
+"""Script to run teleoperation with Isaac Lab manipulation environments.
+
+Supports multiple input devices (e.g., keyboard, spacemouse, gamepad) and devices
+configured within the environment (including OpenXR-based hand tracking or motion
+controllers)."""
 
 """Launch Isaac Sim Simulator first."""
 
@@ -13,7 +17,7 @@
 from isaaclab.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser(description="Keyboard teleoperation for Isaac Lab environments.")
+parser = argparse.ArgumentParser(description="Teleoperation for Isaac Lab environments.")
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.")
 parser.add_argument(
     "--teleop_device",
@@ -78,7 +82,7 @@
 
 def main() -> None:
     """
-    Run keyboard teleoperation with Isaac Lab manipulation environment.
+    Run teleoperation with an Isaac Lab manipulation environment.
 
     Creates the environment, sets up teleoperation interfaces and callbacks,
     and runs the main simulation loop until the application is closed.
@@ -98,8 +102,6 @@ def main() -> None:
         env_cfg.terminations.object_reached_goal = DoneTerm(func=mdp.object_reached_goal)
 
     if args_cli.xr:
-        # External cameras are not supported with XR teleop
-        # Check for any camera configs and disable them
         env_cfg = remove_camera_configs(env_cfg)
         env_cfg.sim.render.antialiasing_mode = "DLSS"
 
@@ -204,7 +206,7 @@ def stop_teleoperation() -> None:
                 )
             else:
                 logger.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                logger.error("Supported devices: keyboard, spacemouse, gamepad, handtracking")
+                logger.error("Configure the teleop device in the environment config.")
                 env.close()
                 simulation_app.close()
                 return
@@ -254,6 +256,7 @@ def stop_teleoperation() -> None:
 
                 if should_reset_recording_instance:
                     env.reset()
+                    teleop_interface.reset()
                     should_reset_recording_instance = False
                     print("Environment reset complete")
         except Exception as e:

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.48.5"
+version = "0.48.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,21 @@
 Changelog
 ---------
 
+0.48.6 (2025-11-18)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added OpenXR motion controller support for the G1 robot locomanipulation environment
+  ``Isaac-PickPlace-Locomanipulation-G1-Abs-v0``. This enables teleoperation using XR motion controllers
+  in addition to hand tracking.
+* Added :class:`OpenXRDeviceMotionController` for motion controller-based teleoperation with headset anchoring control.
+* Added motion controller-specific retargeters:
+  * :class:`G1TriHandControllerUpperBodyRetargeterCfg` for upper body and hand control using motion controllers.
+  * :class:`G1LowerBodyStandingControllerRetargeterCfg` for lower body control using motion controllers.
+
+
 0.48.5 (2025-11-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/devices/device_base.py

@@ -9,6 +9,7 @@
 from abc import ABC, abstractmethod
 from collections.abc import Callable
 from dataclasses import dataclass, field
+from enum import Enum
 from typing import Any
 
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
@@ -58,9 +59,13 @@ def __init__(self, retargeters: list[RetargeterBase] | None = None):
         """
         # Initialize empty list if None is provided
         self._retargeters = retargeters or []
+        # Aggregate required features across all retargeters
+        self._required_features = set()
+        for retargeter in self._retargeters:
+            self._required_features.update(retargeter.get_requirements())
 
     def __str__(self) -> str:
-        """Returns: A string containing the information of joystick."""
+        """Returns: A string identifier for the device."""
         return f"{self.__class__.__name__}"
 
     """
@@ -123,3 +128,32 @@ def advance(self) -> torch.Tensor:
         # With multiple retargeters, return a tuple of outputs
         # Concatenate retargeted outputs into a single tensor
         return torch.cat([retargeter.retarget(raw_data) for retargeter in self._retargeters], dim=-1)
+
+    # -----------------------------
+    # Shared data layout helpers (for retargeters across devices)
+    # -----------------------------
+    class TrackingTarget(Enum):
+        """Standard tracking targets shared across devices."""
+
+        HAND_LEFT = 0
+        HAND_RIGHT = 1
+        HEAD = 2
+        CONTROLLER_LEFT = 3
+        CONTROLLER_RIGHT = 4
+
+    class MotionControllerDataRowIndex(Enum):
+        """Rows in the motion-controller 2x7 array."""
+
+        POSE = 0
+        INPUTS = 1
+
+    class MotionControllerInputIndex(Enum):
+        """Indices in the motion-controller input row."""
+
+        THUMBSTICK_X = 0
+        THUMBSTICK_Y = 1
+        TRIGGER = 2
+        SQUEEZE = 3
+        BUTTON_0 = 4
+        BUTTON_1 = 5
+        PADDING = 6

source/isaaclab/isaaclab/devices/openxr/__init__.py

@@ -7,4 +7,4 @@
 
 from .manus_vive import ManusVive, ManusViveCfg
 from .openxr_device import OpenXRDevice, OpenXRDeviceCfg
-from .xr_cfg import XrCfg, remove_camera_configs
+from .xr_cfg import XrAnchorRotationMode, XrCfg, remove_camera_configs

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

@@ -13,7 +13,6 @@
 import numpy as np
 from collections.abc import Callable
 from dataclasses import dataclass
-from enum import Enum
 
 import carb
 from isaacsim.core.version import get_version
@@ -22,7 +21,6 @@
 from isaaclab.devices.retargeter_base import RetargeterBase
 
 from ..device_base import DeviceBase, DeviceCfg
-from .openxr_device import OpenXRDevice
 from .xr_cfg import XrCfg
 
 # For testing purposes, we need to mock the XRCore
@@ -61,13 +59,6 @@ class ManusVive(DeviceBase):
     data is transformed into robot control commands suitable for teleoperation.
     """
 
-    class TrackingTarget(Enum):
-        """Enum class specifying what to track with Manus+Vive. Consistent with :class:`OpenXRDevice.TrackingTarget`."""
-
-        HAND_LEFT = 0
-        HAND_RIGHT = 1
-        HEAD = 2
-
     TELEOP_COMMAND_EVENT_TYPE = "teleop_command"
 
     def __init__(self, cfg: ManusViveCfg, retargeters: list[RetargeterBase] | None = None):
@@ -192,9 +183,9 @@ def _get_raw_data(self) -> dict:
             joint_name = HAND_JOINT_MAP[int(index)]
             result[hand][joint_name] = np.array(pose["position"] + pose["orientation"], dtype=np.float32)
         return {
-            OpenXRDevice.TrackingTarget.HAND_LEFT: result["left"],
-            OpenXRDevice.TrackingTarget.HAND_RIGHT: result["right"],
-            OpenXRDevice.TrackingTarget.HEAD: self._calculate_headpose(),
+            DeviceBase.TrackingTarget.HAND_LEFT: result["left"],
+            DeviceBase.TrackingTarget.HAND_RIGHT: result["right"],
+            DeviceBase.TrackingTarget.HEAD: self._calculate_headpose(),
         }
 
     def _calculate_headpose(self) -> np.ndarray: