Fix typo in RetargeterBase

Author: rwiltz

source/isaaclab/isaaclab/devices/device_base.py

@@ -62,7 +62,7 @@ def __init__(self, retargeters: list[RetargeterBase] | None = None):
         # Aggregate required features across all retargeters
         self._required_features = set()
         for retargeter in self._retargeters:
-            self._required_features.update(retargeter.GetRequirments())
+            self._required_features.update(retargeter.GetRequirements())
 
     def __str__(self) -> str:
         """Returns: A string identifier for the device."""

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_retargeter.py

@@ -110,7 +110,7 @@ def retarget(self, data: dict) -> torch.Tensor:
         # Combine all tensors into a single tensor
         return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.HAND_TRACKING]
 
     def _retarget_abs(self, wrist: np.ndarray) -> np.ndarray:

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py

@@ -21,7 +21,7 @@ def __init__(self, cfg: G1LowerBodyStandingRetargeterCfg):
     def retarget(self, data: dict) -> torch.Tensor:
         return torch.tensor([0.0, 0.0, 0.0, self.cfg.hip_height], device=self.cfg.sim_device)
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         # This retargeter does not consume any device data
         return []
 

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_motion_controller_locomotion.py

@@ -65,7 +65,7 @@ def retarget(self, data: dict) -> torch.Tensor:
             dtype=torch.float32,
         )
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.MOTION_CONTROLLER]
 
 

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py

@@ -114,7 +114,7 @@ def retarget(self, data: dict) -> torch.Tensor:
         # Combine all tensors into a single tensor
         return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.HAND_TRACKING]
 
     def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_retargeter.py

@@ -106,7 +106,7 @@ def retarget(self, data: dict) -> torch.Tensor:
 
         return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.MOTION_CONTROLLER]
 
     def _extract_wrist_pose(self, controller_data: np.ndarray, default_pose: np.ndarray) -> np.ndarray:

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py

@@ -127,7 +127,7 @@ def retarget(self, data: dict) -> torch.Tensor:
         # Combine all tensors into a single tensor
         return torch.cat([left_wrist_tensor, right_wrist_tensor, hand_joints_tensor])
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.HAND_TRACKING]
 
     def _retarget_abs(self, wrist: np.ndarray, is_left: bool) -> np.ndarray:

source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/gripper_retargeter.py

@@ -65,7 +65,7 @@ def retarget(self, data: dict) -> torch.Tensor:
 
         return torch.tensor([gripper_value], dtype=torch.float32, device=self._sim_device)
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.HAND_TRACKING]
 
     def _calculate_gripper_command(self, thumb_pos: np.ndarray, index_pos: np.ndarray) -> bool:

source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py

@@ -87,7 +87,7 @@ def retarget(self, data: dict) -> torch.Tensor:
 
         return ee_command
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.HAND_TRACKING]
 
     def _retarget_abs(self, thumb_tip: np.ndarray, index_tip: np.ndarray, wrist: np.ndarray) -> np.ndarray:

source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py

@@ -116,7 +116,7 @@ def retarget(self, data: dict) -> torch.Tensor:
 
         return ee_command
 
-    def GetRequirments(self) -> list[RetargeterBase.Requirement]:
+    def GetRequirements(self) -> list[RetargeterBase.Requirement]:
         return [RetargeterBase.Requirement.HAND_TRACKING]
 
     def _calculate_delta_pose(self, joint_pose: np.ndarray, previous_joint_pose: np.ndarray) -> np.ndarray: