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>

Author: rwiltz

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

@@ -1,7 +1,7 @@
 [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

@@ -1,6 +1,15 @@
 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 @@
 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 @@
 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 @@ def _resolve_command_buffer(self, raw_command: np.ndarray) -> np.ndarray:
         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 @@
 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 @@ def _resolve_command_buffer(self, raw_command: np.ndarray) -> np.ndarray:
         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 ..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 @@ async def _websocket_loop(self):
                     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 @@
 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 @@ def _create_key_bindings(self):
             "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 @@
 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 @@ def _create_key_bindings(self):
             "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 .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 @@ def _on_teleop_command(self, event: carb.events.IEvent):
         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