Fix IsaacTeleop retargeting support detection

Check for RetargetingExecutionConfig and DeadlinePacingConfig before enabling the pipelined retargeting default. Older IsaacTeleop packages can expose teleop_session_manager without these newer configuration classes, so import success alone is not enough.

Update the CloudXR lifecycle tests to cover both supported and legacy IsaacTeleop APIs while keeping their heavy dependency stubs isolated.

Author: hougantc-nvda

source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py

@@ -30,13 +30,21 @@
     from isaacteleop.teleop_session_manager import PluginConfig
 
 
+def _retargeting_execution_is_supported(teleop_session_manager: Any | None) -> bool:
+    """Check whether IsaacTeleop exposes retargeting execution configuration."""
+    return (
+        teleop_session_manager is not None
+        and hasattr(teleop_session_manager, "RetargetingExecutionConfig")
+        and hasattr(teleop_session_manager, "DeadlinePacingConfig")
+    )
+
+
 try:
     import isaacteleop.teleop_session_manager as _tsm
-
-    _RETARGETING_EXECUTION_SUPPORTED = True
 except ImportError:
     _tsm = None
-    _RETARGETING_EXECUTION_SUPPORTED = False
+
+_RETARGETING_EXECUTION_SUPPORTED = _retargeting_execution_is_supported(_tsm)
 
 
 def _default_retargeting_execution_config() -> Any | None:

source/isaaclab_teleop/test/test_cloudxr_lifecycle.py

@@ -71,8 +71,10 @@ def _install_stubs():
     """Insert MagicMock modules for all heavy dependencies."""
     for name in _MODULES_TO_STUB:
         if name not in sys.modules:
-            _stubs_installed[name] = MagicMock()
-            sys.modules[name] = _stubs_installed[name]
+            sys.modules[name] = _stubs_installed.setdefault(name, MagicMock())
+        if "." in name:
+            parent_name, child_name = name.rsplit(".", 1)
+            setattr(sys.modules[parent_name], child_name, sys.modules[name])
 
     @dataclass
     class DeadlinePacingConfig:
@@ -88,6 +90,21 @@ class RetargetingExecutionConfig:
     tsm.RetargetingExecutionConfig = RetargetingExecutionConfig  # type: ignore[attr-defined]
 
 
+def _restore_stubs():
+    """Remove stubs installed for this test module from ``sys.modules``."""
+    for name in reversed(_MODULES_TO_STUB):
+        stub = _stubs_installed.get(name)
+        if stub is None:
+            continue
+        if "." in name:
+            parent_name, child_name = name.rsplit(".", 1)
+            parent = sys.modules.get(parent_name)
+            if parent is not None and getattr(parent, child_name, None) is stub:
+                delattr(parent, child_name)
+        if sys.modules.get(name) is stub:
+            del sys.modules[name]
+
+
 _install_stubs()
 
 from isaaclab_teleop.isaac_teleop_cfg import (  # noqa: E402
@@ -97,11 +114,21 @@ class RetargetingExecutionConfig:
 )
 from isaaclab_teleop.session_lifecycle import TeleopSessionLifecycle  # noqa: E402
 
+_restore_stubs()
+
 # ---------------------------------------------------------------------------
 # Helpers
 # ---------------------------------------------------------------------------
 
 
+@pytest.fixture(autouse=True)
+def _stub_heavy_dependencies():
+    """Keep CloudXR tests isolated from modules collected later in the suite."""
+    _install_stubs()
+    yield
+    _restore_stubs()
+
+
 def _make_cfg() -> IsaacTeleopCfg:
     """Build a minimal IsaacTeleopCfg with a dummy pipeline_builder."""
     return IsaacTeleopCfg(
@@ -123,6 +150,24 @@ def _make_lifecycle(
     )
 
 
+def _make_supported_tsm_module() -> ModuleType:
+    """Build a fake ``teleop_session_manager`` with the new execution config API."""
+
+    @dataclass
+    class DeadlinePacingConfig:
+        safety_margin_s: float = 0.025
+
+    @dataclass
+    class RetargetingExecutionConfig:
+        mode: str = "sync"
+        pacing: DeadlinePacingConfig | None = None
+
+    tsm = ModuleType("isaacteleop.teleop_session_manager")
+    tsm.DeadlinePacingConfig = DeadlinePacingConfig  # type: ignore[attr-defined]
+    tsm.RetargetingExecutionConfig = RetargetingExecutionConfig  # type: ignore[attr-defined]
+    return tsm
+
+
 # ============================================================================
 # Shipped .env profile paths
 # ============================================================================
@@ -163,7 +208,13 @@ class TestRetargetingExecutionConfig:
 
     def test_cfg_defaults_to_deadline_paced_pipelined_retargeting(self):
         """Isaac Lab defaults to deadline-paced pipelined retargeting."""
-        cfg = _make_cfg()
+        import isaaclab_teleop.isaac_teleop_cfg as cfg_module
+
+        with (
+            patch.object(cfg_module, "_RETARGETING_EXECUTION_SUPPORTED", True),
+            patch.object(cfg_module, "_tsm", _make_supported_tsm_module()),
+        ):
+            cfg = _make_cfg()
 
         assert cfg.retargeting_execution.mode == "pipelined"
         assert cfg.retargeting_execution.pacing.safety_margin_s == 0.025
@@ -177,8 +228,23 @@ def test_cfg_defaults_to_none_with_legacy_isaacteleop(self):
 
         assert cfg.retargeting_execution is None
 
+    def test_retargeting_execution_support_requires_new_config_classes(self):
+        """IsaacTeleop must expose both execution config classes to enable the default."""
+        import isaaclab_teleop.isaac_teleop_cfg as cfg_module
+
+        legacy_tsm = ModuleType("isaacteleop.teleop_session_manager")
+        assert not cfg_module._retargeting_execution_is_supported(legacy_tsm)
+
+        legacy_tsm.RetargetingExecutionConfig = object
+        assert not cfg_module._retargeting_execution_is_supported(legacy_tsm)
+
+        legacy_tsm.DeadlinePacingConfig = object
+        assert cfg_module._retargeting_execution_is_supported(legacy_tsm)
+
     def test_session_config_receives_cfg_retargeting_execution(self):
         """The configured IsaacTeleop execution mode is passed into TeleopSession."""
+        import isaaclab_teleop.session_lifecycle as lifecycle_module
+
         cfg = _make_cfg()
         sentinel_execution = object()
         cfg.retargeting_execution = sentinel_execution
@@ -192,6 +258,7 @@ def test_session_config_receives_cfg_retargeting_execution(self):
         fake_tsm_module = sys.modules["isaacteleop.teleop_session_manager"]
 
         with (
+            patch.object(lifecycle_module, "_RETARGETING_EXECUTION_SUPPORTED", True),
             patch.object(fake_tsm_module, "TeleopSessionConfig", session_config_cls),
             patch.object(fake_tsm_module, "TeleopSession", session_cls),
             patch.object(lifecycle, "_ensure_xr_ar_profile_enabled"),
@@ -235,6 +302,8 @@ def test_session_config_omits_retargeting_execution_for_legacy_isaacteleop(self,
 
     def test_session_config_propagates_typeerror_from_supported_isaacteleop(self):
         """A TypeError from a supported IsaacTeleop must surface, not be swallowed."""
+        import isaaclab_teleop.session_lifecycle as lifecycle_module
+
         cfg = _make_cfg()
         cfg.retargeting_execution = object()
 
@@ -248,6 +317,7 @@ def raising_session_config(**kwargs):
         fake_tsm_module = sys.modules["isaacteleop.teleop_session_manager"]
 
         with (
+            patch.object(lifecycle_module, "_RETARGETING_EXECUTION_SUPPORTED", True),
             patch.object(fake_tsm_module, "TeleopSessionConfig", raising_session_config),
             patch.object(fake_tsm_module, "TeleopSession", MagicMock()),
             patch.object(lifecycle, "_ensure_xr_ar_profile_enabled"),