Adding a lower body standing retargeter. Produces a zero root velocity

and fixed height.

Author: rwiltz

source/isaaclab/isaaclab/devices/openxr/retargeters/__init__.py

@@ -6,6 +6,7 @@
 
 from .humanoid.fourier.gr1t2_retargeter import GR1T2Retargeter, GR1T2RetargeterCfg
 from .humanoid.unitree.g1_lower_body_retargeter import G1LowerBodyRetargeter, G1LowerBodyRetargeterCfg
+from .humanoid.unitree.g1_lower_body_standing import G1LowerBodyStandingRetargeter, G1LowerBodyStandingRetargeterCfg
 from .humanoid.unitree.g1_upper_body_retargeter import G1UpperBodyRetargeter, G1UpperBodyRetargeterCfg
 from .manipulator.gripper_retargeter import GripperRetargeter, GripperRetargeterCfg
 from .manipulator.se3_abs_retargeter import Se3AbsRetargeter, Se3AbsRetargeterCfg

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

@@ -0,0 +1,27 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import torch
+from dataclasses import dataclass
+
+from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
+
+
+@dataclass
+class G1LowerBodyStandingRetargeterCfg(RetargeterCfg):
+    """Configuration for the G1 lower body standing retargeter."""
+
+    hip_height: float = 0.72
+
+
+class G1LowerBodyStandingRetargeter(RetargeterBase):
+    """Provides lower body standing commands for the G1 robot."""
+
+    def __init__(self, cfg: G1LowerBodyStandingRetargeterCfg):
+        """Initialize the retargeter."""
+        self.cfg = cfg
+
+    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)

source/isaaclab/isaaclab/devices/teleop_device_factory.py

@@ -17,6 +17,8 @@
 from isaaclab.devices.openxr.retargeters import (
     G1LowerBodyRetargeter,
     G1LowerBodyRetargeterCfg,
+    G1LowerBodyStandingRetargeter,
+    G1LowerBodyStandingRetargeterCfg,
     G1UpperBodyRetargeter,
     G1UpperBodyRetargeterCfg,
     GR1T2Retargeter,
@@ -55,6 +57,7 @@
     GR1T2RetargeterCfg: GR1T2Retargeter,
     G1UpperBodyRetargeterCfg: G1UpperBodyRetargeter,
     G1LowerBodyRetargeterCfg: G1LowerBodyRetargeter,
+    G1LowerBodyStandingRetargeterCfg: G1LowerBodyStandingRetargeter,
 }
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py

@@ -13,7 +13,7 @@
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.devices.device_base import DevicesCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg, XrCfg
-from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_lower_body_retargeter import G1LowerBodyRetargeterCfg
+from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_lower_body_standing import G1LowerBodyStandingRetargeterCfg
 from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_upper_body_retargeter import G1UpperBodyRetargeterCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
@@ -225,7 +225,7 @@ def __post_init__(self):
                             sim_device=self.sim.device,
                             hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
                         ),
-                        G1LowerBodyRetargeterCfg(
+                        G1LowerBodyStandingRetargeterCfg(
                             sim_device=self.sim.device,
                         ),
                     ],

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/mdp/actions.py

@@ -74,9 +74,7 @@ def process_actions(self, actions: torch.Tensor):
 
         # Extract base command from the action tensor
         # Assuming the base command [vx, vy, wz, hip_height]
-        # TODO
-        base_command = torch.zeros_like(actions)  # Shape: [num_envs, 4]
-        base_command[:, 3] = 0.72
+        base_command = actions
 
         obs_tensor = self._env.obs_buf["lower_body_policy"]