Adds AVP teleop support for Galbot stack tasks

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.11.1"
+version = "0.11.2"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.11.2 (2025-10-10)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added OpenXRteleoperation devices to the Galbot stack environments.
+
+
 0.11.1 (2025-09-24)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py

@@ -5,6 +5,9 @@
 
 
 from isaaclab.assets import RigidObjectCfg, SurfaceGripperCfg
+from isaaclab.devices import DevicesCfg
+from isaaclab.devices.openxr import OpenXRDevice, OpenXRDeviceCfg
+from isaaclab.devices.openxr.retargeters import GripperRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs.mdp.actions.actions_cfg import SurfaceGripperBinaryActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
@@ -240,6 +243,27 @@ def __post_init__(self):
             ],
         )
 
+        self.teleop_devices = DevicesCfg(
+            devices={
+                "handtracking": OpenXRDeviceCfg(
+                    retargeters=[
+                        Se3AbsRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_LEFT,
+                            zero_out_xy_rotation=True,
+                            use_wrist_rotation=False,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        GripperRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_LEFT, sim_device=self.sim.device
+                        ),
+                    ],
+                    sim_device=self.sim.device,
+                    xr_cfg=self.xr,
+                ),
+            }
+        )
+
 
 @configclass
 class GalbotRightArmCubeStackEnvCfg(GalbotLeftArmCubeStackEnvCfg):
@@ -276,3 +300,24 @@ def __post_init__(self):
         )
 
         self.scene.ee_frame.target_frames[0].prim_path = "{ENV_REGEX_NS}/Robot/right_suction_cup_tcp_link"
+
+        self.teleop_devices = DevicesCfg(
+            devices={
+                "handtracking": OpenXRDeviceCfg(
+                    retargeters=[
+                        Se3AbsRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT,
+                            zero_out_xy_rotation=True,
+                            use_wrist_rotation=False,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        GripperRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device
+                        ),
+                    ],
+                    sim_device=self.sim.device,
+                    xr_cfg=self.xr,
+                ),
+            }
+        )

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py

@@ -9,6 +9,8 @@
 import isaaclab.sim as sim_utils
 from isaaclab.devices.device_base import DevicesCfg
 from isaaclab.devices.keyboard import Se3KeyboardCfg
+from isaaclab.devices.openxr import OpenXRDevice, OpenXRDeviceCfg
+from isaaclab.devices.openxr.retargeters import GripperRetargeterCfg, Se3RelRetargeterCfg
 from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
 from isaaclab.envs.mdp.actions.rmpflow_actions_cfg import RMPFlowActionCfg
 from isaaclab.sensors import CameraCfg, FrameTransformerCfg
@@ -75,6 +77,24 @@ def __post_init__(self):
                     rot_sensitivity=0.05,
                     sim_device=self.sim.device,
                 ),
+                "handtracking": OpenXRDeviceCfg(
+                    retargeters=[
+                        Se3RelRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_LEFT,
+                            zero_out_xy_rotation=True,
+                            use_wrist_rotation=False,
+                            use_wrist_position=True,
+                            delta_pos_scale_factor=10.0,
+                            delta_rot_scale_factor=10.0,
+                            sim_device=self.sim.device,
+                        ),
+                        GripperRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_LEFT, sim_device=self.sim.device
+                        ),
+                    ],
+                    sim_device=self.sim.device,
+                    xr_cfg=self.xr,
+                ),
             }
         )
 
@@ -124,6 +144,24 @@ def __post_init__(self):
                     rot_sensitivity=0.05,
                     sim_device=self.sim.device,
                 ),
+                "handtracking": OpenXRDeviceCfg(
+                    retargeters=[
+                        Se3RelRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT,
+                            zero_out_xy_rotation=True,
+                            use_wrist_rotation=False,
+                            use_wrist_position=True,
+                            delta_pos_scale_factor=10.0,
+                            delta_rot_scale_factor=10.0,
+                            sim_device=self.sim.device,
+                        ),
+                        GripperRetargeterCfg(
+                            bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device
+                        ),
+                    ],
+                    sim_device=self.sim.device,
+                    xr_cfg=self.xr,
+                ),
             }
         )