add device_type/teleoperation_active_default to DeviceCfg, remove DEV…

source/isaaclab/isaaclab/devices/device_base.py

@@ -8,7 +8,7 @@
 import torch
 from abc import ABC, abstractmethod
 from collections.abc import Callable
-from dataclasses import dataclass, field
+from dataclasses import dataclass, field, MISSING
 from typing import Any
 
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
@@ -17,7 +17,8 @@
 @dataclass
 class DeviceCfg:
     """Configuration for teleoperation devices."""
-
+    device_type: type["DeviceBase"] = MISSING
+    teleoperation_active_default: bool = True
     sim_device: str = "cpu"
     retargeters: list[RetargeterCfg] = field(default_factory=list)
 

source/isaaclab/isaaclab/devices/gamepad/se2_gamepad.py

@@ -18,15 +18,6 @@
 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.
@@ -54,7 +45,7 @@ class Se2Gamepad(DeviceBase):
 
     def __init__(
         self,
-        cfg: Se2GamepadCfg,
+        cfg: "Se2GamepadCfg",
     ):
         """Initialize the gamepad layer.
 
@@ -209,3 +200,14 @@ 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."""
+
+    device_type: type[Se2Gamepad] = Se2Gamepad
+    v_x_sensitivity: float = 1.0
+    v_y_sensitivity: float = 1.0
+    omega_z_sensitivity: float = 1.0
+    dead_zone: float = 0.01

source/isaaclab/isaaclab/devices/gamepad/se3_gamepad.py

@@ -18,15 +18,6 @@
 from ..device_base import DeviceBase, DeviceCfg
 
 
-@dataclass
-class Se3GamepadCfg(DeviceCfg):
-    """Configuration for SE3 gamepad devices."""
-
-    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).
@@ -61,7 +52,7 @@ class Se3Gamepad(DeviceBase):
 
     def __init__(
         self,
-        cfg: Se3GamepadCfg,
+        cfg: "Se3GamepadCfg",
     ):
         """Initialize the gamepad layer.
 
@@ -260,3 +251,14 @@ 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."""
+
+    device_type: type[Se3Gamepad] = Se3Gamepad
+    dead_zone: float = 0.01  # For gamepad devices
+    pos_sensitivity: float = 1.0
+    rot_sensitivity: float = 1.6
+    retargeters: None = None

source/isaaclab/isaaclab/devices/keyboard/se2_keyboard.py

@@ -17,14 +17,6 @@
 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.
@@ -50,7 +42,7 @@ class Se2Keyboard(DeviceBase):
 
     """
 
-    def __init__(self, cfg: Se2KeyboardCfg):
+    def __init__(self, cfg: "Se2KeyboardCfg"):
         """Initialize the keyboard layer.
 
         Args:
@@ -178,3 +170,13 @@ 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."""
+
+    device_type: type[Se2Keyboard] = Se2Keyboard
+    v_x_sensitivity: float = 0.8
+    v_y_sensitivity: float = 0.4
+    omega_z_sensitivity: float = 1.0

source/isaaclab/isaaclab/devices/keyboard/se3_keyboard.py

@@ -18,14 +18,6 @@
 from ..device_base import DeviceBase, DeviceCfg
 
 
-@dataclass
-class Se3KeyboardCfg(DeviceCfg):
-    """Configuration for SE3 keyboard devices."""
-
-    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).
@@ -58,7 +50,7 @@ class Se3Keyboard(DeviceBase):
 
     """
 
-    def __init__(self, cfg: Se3KeyboardCfg):
+    def __init__(self, cfg: "Se3KeyboardCfg"):
         """Initialize the keyboard layer.
 
         Args:
@@ -202,3 +194,13 @@ 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."""
+
+    device_type: type[Se3Keyboard] = Se3Keyboard
+    pos_sensitivity: float = 0.4
+    rot_sensitivity: float = 0.8
+    retargeters: None = None

source/isaaclab/isaaclab/devices/openxr/openxr_device.py

@@ -13,7 +13,7 @@
 from typing import Any
 
 import carb
-
+import isaaclab.devices as devices
 from isaaclab.devices.openxr.common import HAND_JOINT_NAMES
 from isaaclab.devices.retargeter_base import RetargeterBase
 
@@ -29,13 +29,6 @@
 from isaacsim.core.prims import SingleXFormPrim
 
 
-@dataclass
-class OpenXRDeviceCfg(DeviceCfg):
-    """Configuration for OpenXR devices."""
-
-    xr_cfg: XrCfg | None = None
-
-
 class OpenXRDevice(DeviceBase):
     """An OpenXR-powered device for teleoperation and interaction.
 
@@ -78,7 +71,7 @@ class TrackingTarget(Enum):
 
     def __init__(
         self,
-        cfg: OpenXRDeviceCfg,
+        cfg: "OpenXRDeviceCfg",
         retargeters: list[RetargeterBase] | None = None,
     ):
         """Initialize the OpenXR device.
@@ -300,3 +293,12 @@ 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 OpenXRDeviceCfg(DeviceCfg):
+    """Configuration for OpenXR devices."""
+
+    device_type: type[OpenXRDevice] = OpenXRDevice
+    xr_cfg: XrCfg | None = None
+    teleoperation_active_default: bool = False

source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse.py

@@ -19,15 +19,6 @@
 from .utils import convert_buffer
 
 
-@dataclass
-class Se2SpaceMouseCfg(DeviceCfg):
-    """Configuration for SE2 space mouse devices."""
-
-    v_x_sensitivity: float = 0.8
-    v_y_sensitivity: float = 0.4
-    omega_z_sensitivity: float = 1.0
-    sim_device: str = "cpu"
-
 
 class Se2SpaceMouse(DeviceBase):
     r"""A space-mouse controller for sending SE(2) commands as delta poses.
@@ -48,7 +39,7 @@ class Se2SpaceMouse(DeviceBase):
 
     """
 
-    def __init__(self, cfg: Se2SpaceMouseCfg):
+    def __init__(self, cfg: "Se2SpaceMouseCfg"):
         """Initialize the spacemouse layer.
 
         Args:
@@ -168,3 +159,14 @@ def _run_device(self):
                         # additional callbacks
                         if "R" in self._additional_callbacks:
                             self._additional_callbacks["R"]
+
+
+@dataclass
+class Se2SpaceMouseCfg(DeviceCfg):
+    """Configuration for SE2 space mouse devices."""
+
+    device_type: type[Se2SpaceMouse] = Se2SpaceMouse
+    v_x_sensitivity: float = 0.8
+    v_y_sensitivity: float = 0.4
+    omega_z_sensitivity: float = 1.0
+    sim_device: str = "cpu"

source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py

@@ -18,15 +18,6 @@
 from .utils import convert_buffer
 
 
-@dataclass
-class Se3SpaceMouseCfg(DeviceCfg):
-    """Configuration for SE3 space mouse devices."""
-
-    pos_sensitivity: float = 0.4
-    rot_sensitivity: float = 0.8
-    retargeters: None = None
-
-
 class Se3SpaceMouse(DeviceBase):
     """A space-mouse controller for sending SE(3) commands as delta poses.
 
@@ -49,7 +40,7 @@ class Se3SpaceMouse(DeviceBase):
 
     """
 
-    def __init__(self, cfg: Se3SpaceMouseCfg):
+    def __init__(self, cfg: "Se3SpaceMouseCfg"):
         """Initialize the space-mouse layer.
 
         Args:
@@ -191,3 +182,13 @@ def _run_device(self):
                             self._additional_callbacks["R"]()
                     if data[1] == 3:
                         self._read_rotation = not self._read_rotation
+
+
+@dataclass
+class Se3SpaceMouseCfg(DeviceCfg):
+    """Configuration for SE3 space mouse devices."""
+
+    device_type: type[Se3SpaceMouse] = Se3SpaceMouse
+    pos_sensitivity: float = 0.4
+    rot_sensitivity: float = 0.8
+    retargeters: None = None

source/isaaclab/isaaclab/devices/teleop_device_factory.py

@@ -31,17 +31,6 @@
     # May fail if xr is not in use
     from isaaclab.devices.openxr import OpenXRDevice, OpenXRDeviceCfg
 
-# Map device types to their constructor and expected config type
-DEVICE_MAP: dict[type[DeviceCfg], type[DeviceBase]] = {
-    Se3KeyboardCfg: Se3Keyboard,
-    Se3SpaceMouseCfg: Se3SpaceMouse,
-    Se3GamepadCfg: Se3Gamepad,
-    Se2KeyboardCfg: Se2Keyboard,
-    Se2GamepadCfg: Se2Gamepad,
-    Se2SpaceMouseCfg: Se2SpaceMouse,
-    OpenXRDeviceCfg: OpenXRDevice,
-}
-
 
 # Map configuration types to their corresponding retargeter classes
 RETARGETER_MAP: dict[type[RetargeterCfg], type[RetargeterBase]] = {
@@ -53,7 +42,7 @@
 
 
 def create_teleop_device(
-    device_name: str, devices_cfg: dict[str, DeviceCfg], callbacks: dict[str, Callable] | None = None
+    env, device_name: str, devices_cfg: dict[str, DeviceCfg], callbacks: dict[str, Callable] | None = None
 ) -> DeviceBase:
     """Create a teleoperation device based on configuration.
 
@@ -76,13 +65,8 @@ def create_teleop_device(
     device_cfg = devices_cfg[device_name]
     callbacks = callbacks or {}
 
-    # Check if device config type is supported
-    cfg_type = type(device_cfg)
-    if cfg_type not in DEVICE_MAP:
-        raise ValueError(f"Unsupported device configuration type: {cfg_type.__name__}")
-
     # Get the constructor for this config type
-    constructor = DEVICE_MAP[cfg_type]
+    constructor = device_cfg.device_type
 
     # Try to create retargeters if they are configured
     retargeters = []
@@ -101,10 +85,13 @@ def create_teleop_device(
 
     # Check if the constructor accepts retargeters parameter
     constructor_params = inspect.signature(constructor).parameters
+    params = {}
     if "retargeters" in constructor_params and retargeters:
-        device = constructor(cfg=device_cfg, retargeters=retargeters)
-    else:
-        device = constructor(cfg=device_cfg)
+        params["retargeters"] = retargeters
+    if "env" in constructor_params:
+        params["env"] = env
+
+    device = constructor(cfg=device_cfg, **params)
 
     # Register callbacks
     for key, callback in callbacks.items():