Deprecate the isaaclab.devices keyboard, gamepad and SpaceMouse devices

Se2/Se3Keyboard, Se2/Se3Gamepad and Se2/Se3SpaceMouse now emit a
DeprecationWarning pointing to the isaaclab_teleop builders that replace
them. Their configs are not deprecated: environments keep declaring
their devices with them, and the teleop scripts run those through the
equivalent Isaac Capture pipeline when isaacteleop is installed.

Author: rwiltz

source/isaaclab/changelog.d/rwiltz-teleop-scripts-isaac-capture.deprecated.rst

@@ -0,0 +1,10 @@
+* Deprecated :class:`~isaaclab.devices.Se2Keyboard`, :class:`~isaaclab.devices.Se3Keyboard`,
+  :class:`~isaaclab.devices.Se2Gamepad`, :class:`~isaaclab.devices.Se3Gamepad`,
+  :class:`~isaaclab.devices.Se2SpaceMouse` and :class:`~isaaclab.devices.Se3SpaceMouse`; their
+  constructors now emit a :class:`DeprecationWarning`. Use the ``isaaclab_teleop`` builders
+  instead (:func:`~isaaclab_teleop.se3_keyboard_teleop_cfg`,
+  :func:`~isaaclab_teleop.se3_gamepad_teleop_cfg`, :func:`~isaaclab_teleop.se3_spacemouse_teleop_cfg`
+  and their SE(2) counterparts), which run the device through Isaac Capture. The device
+  configs (:class:`~isaaclab.devices.Se3KeyboardCfg`, ...) are not deprecated: the teleop scripts
+  run an environment's ``teleop_devices`` entries through the equivalent Isaac Capture pipeline
+  when the ``isaacteleop`` package is installed, and through these devices otherwise.

source/isaaclab/changelog.d/rwiltz-teleop-scripts-isaac-capture.minor

@@ -3,7 +3,13 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Gamepad device for SE(2) and SE(3) control."""
+"""Gamepad device for SE(2) and SE(3) control.
+
+.. deprecated::
+    Use :func:`isaaclab_teleop.se2_gamepad_teleop_cfg` / :func:`isaaclab_teleop.se3_gamepad_teleop_cfg`, which run
+    the device in process through Isaac Capture. Imports from this package keep working;
+    the device constructors emit a :class:`DeprecationWarning`.
+"""
 
 from ...utils.module import lazy_export
 

source/isaaclab/isaaclab/devices/gamepad/__init__.py

@@ -7,6 +7,7 @@
 
 from __future__ import annotations
 
+import warnings
 import weakref
 from collections.abc import Callable
 from typing import TYPE_CHECKING
@@ -55,6 +56,11 @@ def __init__(self, cfg: Se2GamepadCfg):
         Args:
             cfg: Configuration object for gamepad settings.
         """
+        warnings.warn(
+            "Se2Gamepad is deprecated. Please use isaaclab_teleop.se2_gamepad_teleop_cfg instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         # turn off simulator gamepad control
         get_settings_manager().set("/persistent/app/omniverse/gamepadCameraControl", False)
         # store inputs

source/isaaclab/isaaclab/devices/gamepad/se2_gamepad.py

@@ -7,6 +7,7 @@
 
 from __future__ import annotations
 
+import warnings
 import weakref
 from collections.abc import Callable
 from typing import TYPE_CHECKING
@@ -62,6 +63,11 @@ def __init__(self, cfg: Se3GamepadCfg):
         Args:
             cfg: Configuration object for gamepad settings.
         """
+        warnings.warn(
+            "Se3Gamepad is deprecated. Please use isaaclab_teleop.se3_gamepad_teleop_cfg instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         # turn off simulator gamepad control
         get_settings_manager().set("/persistent/app/omniverse/gamepadCameraControl", False)
         # store inputs

source/isaaclab/isaaclab/devices/gamepad/se3_gamepad.py

@@ -3,7 +3,13 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Keyboard device for SE(2) and SE(3) control."""
+"""Keyboard device for SE(2) and SE(3) control.
+
+.. deprecated::
+    Use :func:`isaaclab_teleop.se2_keyboard_teleop_cfg` / :func:`isaaclab_teleop.se3_keyboard_teleop_cfg`, which run
+    the device in process through Isaac Capture. Imports from this package keep working;
+    the device constructors emit a :class:`DeprecationWarning`.
+"""
 
 from ...utils.module import lazy_export
 

source/isaaclab/isaaclab/devices/keyboard/__init__.py

@@ -7,6 +7,7 @@
 
 from __future__ import annotations
 
+import warnings
 import weakref
 from collections.abc import Callable
 from typing import TYPE_CHECKING
@@ -53,6 +54,11 @@ def __init__(self, cfg: Se2KeyboardCfg):
         Args:
             cfg: Configuration object for keyboard settings.
         """
+        warnings.warn(
+            "Se2Keyboard is deprecated. Please use isaaclab_teleop.se2_keyboard_teleop_cfg instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         # store inputs
         self.v_x_sensitivity = cfg.v_x_sensitivity
         self.v_y_sensitivity = cfg.v_y_sensitivity

source/isaaclab/isaaclab/devices/keyboard/se2_keyboard.py

@@ -7,6 +7,7 @@
 
 from __future__ import annotations
 
+import warnings
 import weakref
 from collections.abc import Callable
 from typing import TYPE_CHECKING
@@ -61,6 +62,11 @@ def __init__(self, cfg: Se3KeyboardCfg):
         Args:
             cfg: Configuration object for keyboard settings.
         """
+        warnings.warn(
+            "Se3Keyboard is deprecated. Please use isaaclab_teleop.se3_keyboard_teleop_cfg instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         # store inputs
         self.pos_sensitivity = cfg.pos_sensitivity
         self.rot_sensitivity = cfg.rot_sensitivity

source/isaaclab/isaaclab/devices/keyboard/se3_keyboard.py

@@ -3,7 +3,13 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Spacemouse device for SE(2) and SE(3) control."""
+"""Spacemouse device for SE(2) and SE(3) control.
+
+.. deprecated::
+    Use :func:`isaaclab_teleop.se2_spacemouse_teleop_cfg` / :func:`isaaclab_teleop.se3_spacemouse_teleop_cfg`, which run
+    the device in process through Isaac Capture. Imports from this package keep working;
+    the device constructors emit a :class:`DeprecationWarning`.
+"""
 
 from ...utils.module import lazy_export
 

source/isaaclab/isaaclab/devices/spacemouse/__init__.py

@@ -9,6 +9,7 @@
 
 import threading
 import time
+import warnings
 from collections.abc import Callable
 from typing import TYPE_CHECKING
 
@@ -52,6 +53,11 @@ def __init__(self, cfg: Se2SpaceMouseCfg):
         Args:
             cfg: Configuration for the spacemouse device.
         """
+        warnings.warn(
+            "Se2SpaceMouse is deprecated. Please use isaaclab_teleop.se2_spacemouse_teleop_cfg instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         # listener thread, started once the device is found
         self._thread = None
         # store inputs