Refactoring retargeting

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

@@ -18,16 +18,15 @@
     HaplyDevice
     OpenXRDevice
     ManusVive
-    isaaclab.devices.openxr.retargeters.GripperRetargeter
-    isaaclab.devices.openxr.retargeters.Se3AbsRetargeter
-    isaaclab.devices.openxr.retargeters.Se3RelRetargeter
-    isaaclab.devices.openxr.retargeters.GR1T2Retargeter
+    isaaclab.devices.retargeters.GripperRetargeter
+    isaaclab.devices.retargeters.Se3AbsRetargeter
+    isaaclab.devices.retargeters.Se3RelRetargeter
 
   .. rubric:: Modules
 
   .. autosummary::
 
-    isaaclab.devices.openxr.retargeters
+    isaaclab.devices.retargeters
 
 Device Base
 -----------
@@ -116,25 +115,19 @@ Manus + Vive
 Retargeters
 -----------
 
-.. autoclass:: isaaclab.devices.openxr.retargeters.GripperRetargeter
+.. autoclass:: isaaclab.devices.retargeters.GripperRetargeter
     :members:
     :inherited-members:
     :show-inheritance:
     :noindex:
 
-.. autoclass:: isaaclab.devices.openxr.retargeters.Se3AbsRetargeter
+.. autoclass:: isaaclab.devices.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
+.. autoclass:: isaaclab.devices.retargeters.Se3RelRetargeter
     :members:
     :inherited-members:
     :show-inheritance:

docs/source/how-to/cloudxr_teleoperation.rst

@@ -680,33 +680,21 @@ the OpenXRDevice during initialization.
 
 Isaac Lab provides three main retargeters for hand tracking:
 
-.. dropdown:: Se3RelRetargeter (:class:`isaaclab.devices.openxr.retargeters.Se3RelRetargeter`)
+.. dropdown:: Se3RelRetargeter (:class:`isaaclab.devices.retargeters.Se3RelRetargeter`)
 
    * Generates incremental robot commands from relative hand movements
    * Best for precise manipulation tasks
 
-.. dropdown:: Se3AbsRetargeter (:class:`isaaclab.devices.openxr.retargeters.Se3AbsRetargeter`)
+.. dropdown:: Se3AbsRetargeter (:class:`isaaclab.devices.retargeters.Se3AbsRetargeter`)
 
    * Maps hand position directly to robot end-effector position
    * Enables 1:1 spatial control
 
-.. dropdown:: GripperRetargeter (:class:`isaaclab.devices.openxr.retargeters.GripperRetargeter`)
+.. dropdown:: GripperRetargeter (:class:`isaaclab.devices.retargeters.GripperRetargeter`)
 
    * Controls gripper state based on thumb-index finger distance
    * Used alongside position retargeters for full robot control
 
-.. dropdown:: GR1T2Retargeter (:class:`isaaclab.devices.openxr.retargeters.GR1T2Retargeter`)
-
-   * Retargets OpenXR hand tracking data to GR1T2 hand end-effector commands
-   * Handles both left and right hands, converting hand poses to joint angles for the GR1T2 robot's hands
-   * Supports visualization of tracked hand joints
-
-.. dropdown:: UnitreeG1Retargeter (:class:`isaaclab.devices.openxr.retargeters.UnitreeG1Retargeter`)
-
-   * Retargets OpenXR hand tracking data to Unitree G1 using Inspire 5-finger hand end-effector commands
-   * Handles both left and right hands, converting hand poses to joint angles for the G1 robot's hands
-   * Supports visualization of tracked hand joints
-
 Retargeters can be combined to control different robot functions simultaneously.
 
 Using Retargeters with Hand Tracking
@@ -717,7 +705,7 @@ Here's an example of setting up hand tracking:
 .. code-block:: python
 
    from isaaclab.devices import OpenXRDevice, OpenXRDeviceCfg
-   from isaaclab.devices.openxr.retargeters import Se3AbsRetargeter, GripperRetargeter
+   from isaaclab.devices.retargeters import Se3AbsRetargeter, GripperRetargeter
 
    # Create retargeters
    position_retargeter = Se3AbsRetargeter(
@@ -796,7 +784,7 @@ XR-based teleoperation can be integrated with Isaac Lab's environment configurat
    from isaaclab.envs import ManagerBasedEnvCfg
    from isaaclab.devices import DevicesCfg, OpenXRDeviceCfg
    from isaaclab.devices.openxr import XrCfg
-   from isaaclab.devices.openxr.retargeters import Se3AbsRetargeterCfg, GripperRetargeterCfg
+   from isaaclab.devices.retargeters import Se3AbsRetargeterCfg, GripperRetargeterCfg
 
    @configclass
    class MyEnvironmentCfg(ManagerBasedEnvCfg):

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

@@ -2,23 +2,20 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-"""Retargeters for mapping input device data to robot commands."""
 
-from .humanoid.fourier.gr1t2_retargeter import GR1T2Retargeter, GR1T2RetargeterCfg
-from .humanoid.unitree.g1_lower_body_standing import G1LowerBodyStandingRetargeter, G1LowerBodyStandingRetargeterCfg
-from .humanoid.unitree.g1_motion_controller_locomotion import (
-    G1LowerBodyStandingMotionControllerRetargeter,
-    G1LowerBodyStandingMotionControllerRetargeterCfg,
-)
-from .humanoid.unitree.inspire.g1_upper_body_retargeter import UnitreeG1Retargeter, UnitreeG1RetargeterCfg
-from .humanoid.unitree.trihand.g1_upper_body_motion_ctrl_retargeter import (
-    G1TriHandUpperBodyMotionControllerRetargeter,
-    G1TriHandUpperBodyMotionControllerRetargeterCfg,
-)
-from .humanoid.unitree.trihand.g1_upper_body_retargeter import (
-    G1TriHandUpperBodyRetargeter,
-    G1TriHandUpperBodyRetargeterCfg,
+"""
+Backward compatibility shim for retargeters.
+
+.. warning::
+    This module is deprecated. Please use :mod:`isaaclab.devices.retargeters` instead.
+"""
+
+import warnings
+
+from isaaclab.devices.retargeters import *  # noqa: F401, F403
+
+warnings.warn(
+    "isaaclab.devices.openxr.retargeters has moved to isaaclab.devices.retargeters. Please update your imports.",
+    DeprecationWarning,
+    stacklevel=2,
 )
-from .manipulator.gripper_retargeter import GripperRetargeter, GripperRetargeterCfg
-from .manipulator.se3_abs_retargeter import Se3AbsRetargeter, Se3AbsRetargeterCfg
-from .manipulator.se3_rel_retargeter import Se3RelRetargeter, Se3RelRetargeterCfg

source/isaaclab/isaaclab/devices/retargeters/__init__.py

@@ -0,0 +1,21 @@
+# 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
+"""Retargeters for mapping input device data to robot commands."""
+
+from .dex.dex_hand_retargeter import (
+    DexBiManualRetargeter,
+    DexBiManualRetargeterCfg,
+    DexHandRetargeter,
+    DexHandRetargeterCfg,
+)
+from .dex.dex_motion_controller import DexMotionController, DexMotionControllerCfg
+from .locomotion.locomotion_fixed_root_cmd_retargeter import (
+    LocomotionFixedRootCmdRetargeter,
+    LocomotionFixedRootCmdRetargeterCfg,
+)
+from .locomotion.locomotion_root_cmd_retargeter import LocomotionRootCmdRetargeter, LocomotionRootCmdRetargeterCfg
+from .manipulator.gripper_retargeter import GripperRetargeter, GripperRetargeterCfg
+from .manipulator.se3_abs_retargeter import Se3AbsRetargeter, Se3AbsRetargeterCfg
+from .manipulator.se3_rel_retargeter import Se3RelRetargeter, Se3RelRetargeterCfg

source/isaaclab/isaaclab/devices/retargeters/dex/__init__.py

@@ -0,0 +1,7 @@
+# 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
+
+from .dex_hand_retargeter import DexHandRetargeter, DexHandRetargeterCfg
+from .dex_motion_controller import DexMotionController, DexMotionControllerCfg