feat: add OneRobotics A1 Isaac Teleop example

examples/teleop/python/onerobotics_a1_example.py

@@ -0,0 +1,109 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""OneRobotics A1 right-arm end-effector target example.
+
+The A1 is the robot being teleoperated, not an operator-side input device. This
+example maps the right XR controller pose to a 7-D ``right_ee_pose`` target:
+
+    ControllersSource -> Se3AbsRetargeter -> OutputCombiner("right_ee_pose")
+
+An Isaac Lab A1_2026 environment or another robot controller can consume that
+target and solve it for the right arm. Robot assets, inverse kinematics, and the
+robot controller intentionally remain with that consumer.
+
+Example::
+
+    python onerobotics_a1_example.py --duration 30
+"""
+
+from __future__ import annotations
+
+import argparse
+import sys
+
+from _example_loop import add_duration_argument, run_example_loop
+
+from isaaccapture.cloudxr import CloudXRLauncher
+from isaaccapture.retargeters import (
+    Se3AbsRetargeter,
+    Se3RetargeterConfig,
+)
+from isaaccapture.retargeting_engine.deviceio_source_nodes import ControllersSource
+from isaaccapture.retargeting_engine.interface import OutputCombiner
+from isaaccapture.retargeting_engine.tensor_types import ControllerInputIndex
+from isaaccapture.teleop_session_manager import TeleopSession, TeleopSessionConfig
+
+
+def build_pipeline() -> OutputCombiner:
+    """Map the right XR controller to an A1 right-arm end-effector target."""
+    controllers = ControllersSource(name="controllers")
+    retargeter = Se3AbsRetargeter(
+        Se3RetargeterConfig(
+            input_device=ControllersSource.RIGHT,
+            use_wrist_position=True,
+            use_wrist_rotation=True,
+            zero_out_xy_rotation=False,
+        ),
+        name="a1_right_ee_target",
+    )
+    mapped = retargeter.connect(
+        {
+            ControllersSource.RIGHT: controllers.output(ControllersSource.RIGHT),
+        }
+    )
+    return OutputCombiner(
+        {
+            "right_ee_pose": mapped.output("ee_pose"),
+            "right_controller": controllers.output(ControllersSource.RIGHT),
+        }
+    )
+
+
+def run(duration: float) -> None:
+    """Print valid right-arm pose targets for an external A1 controller."""
+    config = TeleopSessionConfig(
+        app_name="OneRoboticsA1RightArmTargetExample",
+        trackers=[],
+        pipeline=build_pipeline(),
+        plugins=[],
+    )
+    valid_samples = 0
+    with TeleopSession(config) as session:
+
+        def step() -> None:
+            nonlocal valid_samples
+            result = session.step()
+            controller = result["right_controller"]
+            if controller.is_none or not bool(
+                controller[ControllerInputIndex.GRIP_IS_VALID]
+            ):
+                return
+
+            valid_samples += 1
+            if valid_samples % 30 != 1:
+                return
+            pose = result["right_ee_pose"][0]
+            print(
+                f"sample {valid_samples:04d} | "
+                f"position=({pose[0]:+.3f}, {pose[1]:+.3f}, {pose[2]:+.3f}) | "
+                f"quaternion_xyzw=({pose[3]:+.3f}, {pose[4]:+.3f}, "
+                f"{pose[5]:+.3f}, {pose[6]:+.3f})"
+            )
+
+        run_example_loop(step, duration)
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__)
+    add_duration_argument(parser)
+    CloudXRLauncher.add_launcher_arguments(parser)
+    args = parser.parse_args()
+
+    with CloudXRLauncher.launch_context(args):
+        run(args.duration)
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())