Dev/hougantc/teleop controllers

[rwiltz]

Description

This MR does the following:

• Introduces Quest retargeters for G1 env loco-manipulation tasks. This enables lower body control via the quest controller joysticks, and upper body control via controller tracking.
• Refactors the retargeters to not depend on OpenXRDevice, instead move enums into DeviceBase and allow retargeters to be used across devices.
• Adds XrAnchor "pinning" to a specific robot prim so that the XR view follows the robot in the scene.

Fixes # (issue)

Type of change

• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

• [x] I have read and understood the contribution guidelines
• [x] I have run the pre-commit checks 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

[rwiltz]

@greptile

[rwiltz]

@greptile

[hougantc-nvda]

Overall, LGTM. Added a few comments that can be handled in different PR.

[greptile-apps[bot]]

Greptile Summary

• Adds Quest motion controller support for G1 robot locomanipulation with joystick-based locomotion and hand tracking
• Refactors retargeter architecture to be device-agnostic by moving enums to DeviceBase and introducing requirement-based feature collection
• Implements XR anchor "pinning" to robot prim with configurable rotation modes (fixed, follow, smoothed) for camera tracking during locomotion

Confidence Score: 3/5

• This PR requires fixes for several bugs before merging safely.
• Score reflects multiple syntax errors (typos) and logic bugs that will cause runtime failures, though the overall architecture is sound and well-tested.
• Pay close attention to xr_anchor_utils.py (potential None access), retargeter_base.py (typo in method name), g1_motion_controller_locomotion.py (missing super call), and openxr_device.py (inconsistent import pattern).

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/devices/openxr/xr_anchor_utils.py	New XR anchor synchronization utility with potential None access bug in rotation toggle logic (line 169)
source/isaaclab/isaaclab/devices/device_base.py	Refactored to add shared enums and requirement-based feature collection for retargeters
source/isaaclab/isaaclab/devices/retargeter_base.py	Added requirement system with typo in method name (get_requirements vs GetRequirments)
source/isaaclab/isaaclab/devices/openxr/openxr_device.py	Major refactor adding motion controller support and anchor synchronization with XRCoreEventType import inconsistency
source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_motion_controller_locomotion.py	New motion controller locomotion retargeter with missing super().init call

Sequence Diagram

sequenceDiagram
    participant User
    participant Env as "LocomanipulationG1Env"
    participant Device as "OpenXRDevice"
    participant Sync as "XrAnchorSynchronizer"
    participant Retargeter as "G1MotionControllerRetargeter"
    participant Robot as "G1Robot"

    User->>Env: "Initialize environment"
    Env->>Device: "OpenXRDevice(cfg, retargeters)"
    Device->>Sync: "XrAnchorSynchronizer(xr_core, xr_cfg)"
    Sync->>Sync: "Subscribe to pre_sync_update event"
    Device->>Device: "Aggregate retargeter requirements"
    
    User->>Env: "Step simulation"
    Env->>Device: "advance()"
    Device->>Device: "_get_raw_data()"
    Device->>Device: "Query motion controller pose and inputs"
    Device->>Retargeter: "retarget(controller_data)"
    Retargeter->>Retargeter: "Map thumbsticks to locomotion commands"
    Retargeter->>Retargeter: "Map triggers/squeeze to hand joints"
    Retargeter-->>Device: "Return concatenated tensor"
    Device-->>Env: "Return robot commands"
    Env->>Robot: "Apply commands to robot joints"
    
    Note over Sync: "Pre-sync callback triggered"
    Sync->>Sync: "sync_headset_to_anchor()"
    Sync->>Sync: "Read robot pelvis world pose"
    Sync->>Sync: "Calculate anchor position and rotation"
    Sync->>Device: "set_world_transform_matrix(anchor_path)"

[ooctipus]

Looks like this pr depends on 3897, overall looks good in the first pass, it will be nice to give a second pass with 3897 merged first : )

[rwiltz]

@ooctipus @kellyguo11 This MR should be ready for review now that the precursor MR has merged.

[rwiltz]

@greptile

[kellyguo11]

looks like some tests and doc build job are failing, @rwiltz could you take a look pls?

[rwiltz]

looks like some tests and doc build job are failing, @rwiltz could you take a look pls?

Weird I am also seeing the doc build failing on main locally... investigating.

[rwiltz]

looks like some tests and doc build job are failing, @rwiltz could you take a look pls?

Weird I am also seeing the doc build failing on main locally... investigating.

@kellyguo11 Should be addressed now

[rwiltz]

@greptile