Properly set sim.device for retargeters

Author: rwiltz

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

@@ -41,6 +41,7 @@ def __init__(
             hand_joint_names: List of robot hand joint names
         """
 
+        super().__init__(cfg)
         self._hand_joint_names = cfg.hand_joint_names
         self._hands_controller = GR1TR2DexRetargeting(self._hand_joint_names)
 

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

@@ -16,6 +16,7 @@ class G1LowerBodyStandingRetargeter(RetargeterBase):
 
     def __init__(self, cfg: G1LowerBodyStandingRetargeterCfg):
         """Initialize the retargeter."""
+        super().__init__(cfg)
         self.cfg = cfg
 
     def retarget(self, data: dict) -> torch.Tensor:

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

@@ -18,6 +18,7 @@ class G1LowerBodyStandingMotionControllerRetargeter(RetargeterBase):
 
     def __init__(self, cfg: G1LowerBodyStandingMotionControllerRetargeterCfg):
         """Initialize the retargeter."""
+        super().__init__(cfg)
         self.cfg = cfg
         self._hip_height = cfg.hip_height
 

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

@@ -41,6 +41,7 @@ def __init__(
             hand_joint_names: List of robot hand joint names
         """
 
+        super().__init__(cfg)
         self._hand_joint_names = cfg.hand_joint_names
         self._hands_controller = UnitreeG1DexRetargeting(self._hand_joint_names)
 

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

@@ -27,6 +27,7 @@ class G1TriHandUpperBodyMotionControllerRetargeter(RetargeterBase):
 
     def __init__(self, cfg: G1TriHandUpperBodyMotionControllerRetargeterCfg):
         """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

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

@@ -38,6 +38,7 @@ def __init__(
         Args:
             cfg: Configuration for the retargeter.
         """
+        super().__init__(cfg)
 
         # Store device name for runtime retrieval
         self._sim_device = cfg.sim_device