Adding Arena G1 locomanipulation retargeters

[rwiltz]

Description

Added a retargeter for G1 upper body which takes in controller input and outputs a bool for hand open/close in addition to the left and right EE targets based on the controller position.

Fixes # (issue)

Type of change

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

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Overview

Greptile Summary

Added G1TriHandUpperBodyMotionControllerGripperRetargeter for mapping VR motion controller inputs to G1 robot gripper states and wrist poses.

• Implemented hysteresis-based gripper control using controller trigger input to prevent flickering at threshold boundaries
• Added wrist pose retargeting with fixed rotation offset (-75° Y, 90° Z) for ergonomic alignment
• Output format: [left_gripper_state(1), right_gripper_state(1), left_wrist(7), right_wrist(7)]
• Comprehensive unit tests added covering basic functionality and different trigger states
• Version bumped to 0.49.1 with proper changelog documentation

Confidence Score: 4/5

• This PR is safe to merge with minor cleanup recommended
• Score reflects well-structured implementation following existing patterns, comprehensive test coverage, and proper documentation. The unused is_left parameter is a minor style issue that doesn't affect functionality. The hysteresis logic is sound and the pose transformation follows the established pattern from similar retargeters.
• source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_gripper.py - remove unused is_left parameter

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_gripper.py	4/5	New retargeter implementation for G1 gripper control with hysteresis logic and wrist pose retargeting; unused parameter is_left in _retarget_abs method
source/isaaclab/test/devices/test_retargeters.py	4/5	Comprehensive test suite added for retargeters including the new G1TriHandUpperBodyMotionControllerGripperRetargeter; good coverage but limited edge case testing for hysteresis

Sequence Diagram

sequenceDiagram
    participant User as VR Controller
    participant Retargeter as G1TriHandUpperBodyMotionControllerGripperRetargeter
    participant Device as DeviceBase
    participant PoseUtils as isaaclab.utils.math
    participant Robot as G1 Robot

    User->>Device: Trigger Input (0.0-1.0)
    User->>Device: Controller Pose [x,y,z,qw,qx,qy,qz]
    
    Device->>Retargeter: retarget(data)
    
    Note over Retargeter: Extract Controller Data
    Retargeter->>Retargeter: _extract_hand_state(left_controller, prev_state)
    Note over Retargeter: Apply Hysteresis Logic<br/>threshold_high=0.6, threshold_low=0.4
    Retargeter->>Retargeter: Update prev_left_state
    
    Retargeter->>Retargeter: _extract_hand_state(right_controller, prev_state)
    Retargeter->>Retargeter: Update prev_right_state
    
    Note over Retargeter: Process Wrist Poses
    Retargeter->>Retargeter: _extract_wrist_pose(left_controller)
    Retargeter->>Retargeter: _extract_wrist_pose(right_controller)
    
    Retargeter->>Retargeter: _retarget_abs(left_wrist)
    Retargeter->>PoseUtils: make_pose(pos, rot_matrix)
    Retargeter->>PoseUtils: pose_in_A_to_pose_in_B(transform, openxr_pose)
    Note over Retargeter: Apply -75° Y + 90° Z rotation
    PoseUtils-->>Retargeter: transformed_pose
    
    Retargeter->>Retargeter: _retarget_abs(right_wrist)
    Retargeter->>PoseUtils: Transform pose
    PoseUtils-->>Retargeter: transformed_pose
    
    Note over Retargeter: Concatenate Results
    Retargeter->>Retargeter: torch.cat([gripper(2), left_wrist(7), right_wrist(7)])
    
    Retargeter->>Robot: [left_gripper_state, right_gripper_state, left_wrist_pose, right_wrist_pose]
    Note over Robot: Total: 16 values<br/>2 gripper + 14 pose

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[greptile-apps]

_{5 files reviewed, 1 comment}

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[greptile-apps]

style: is_left parameter is unused in this method

Suggested change

	def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:
	def _retarget_abs(self, wrist: np.ndarray) -> np.ndarray:

[peterd-NV]

Thanks @rwiltz @hougantc-nvda for helping get teleop for G1 Arena.

I recall trying out the full body teleop with Quest on the Arena G1 env during the onsite. Was that setup using this upper body retargeting?