File size: 2,050 Bytes
7399b6f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 | # Copyright (c) 2022-2026, 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 __future__ import annotations
from dataclasses import dataclass
import torch
import isaaclab.sim as sim_utils
from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
class DummyRetargeter(RetargeterBase):
"""Dummy retargeter that maps motion controller inputs to robot commands.
"""
def __init__(self, cfg: DummyRetargeterCfg):
"""Initialize the retargeter."""
super().__init__(cfg)
self._sim_device = cfg.sim_device
self._hand_joint_names = cfg.hand_joint_names
self._enable_visualization = cfg.enable_visualization
if cfg.hand_joint_names is None:
raise ValueError("hand_joint_names must be provided")
# Initialize visualization if enabled
if self._enable_visualization:
marker_cfg = VisualizationMarkersCfg(
prim_path="/Visuals/g1_controller_markers",
markers={
"joint": sim_utils.SphereCfg(
radius=0.01,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
),
},
)
self._markers = VisualizationMarkers(marker_cfg)
def retarget(self, data: dict) -> torch.Tensor:
"""Convert controller inputs to robot commands.
"""
pass
def get_requirements(self) -> list[RetargeterBase.Requirement]:
return [RetargeterBase.Requirement.MOTION_CONTROLLER]
@dataclass
class DummyRetargeterCfg(RetargeterCfg):
"""Configuration for the Dummy retargeter."""
enable_visualization: bool = False
hand_joint_names: list[str] | None = None # List of robot hand joint names
retargeter_type: type[RetargeterBase] = DummyRetargeter
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