diff --git a/docs/source/api/lab/isaaclab.devices.rst b/docs/source/api/lab/isaaclab.devices.rst
index 5f04c4733cf..a24bf33e8f1 100644
--- a/docs/source/api/lab/isaaclab.devices.rst
+++ b/docs/source/api/lab/isaaclab.devices.rst
@@ -18,16 +18,15 @@
     HaplyDevice
     OpenXRDevice
     ManusVive
-    isaaclab.devices.openxr.retargeters.GripperRetargeter
-    isaaclab.devices.openxr.retargeters.Se3AbsRetargeter
-    isaaclab.devices.openxr.retargeters.Se3RelRetargeter
-    isaaclab.devices.openxr.retargeters.GR1T2Retargeter
+    isaaclab.devices.retargeters.GripperRetargeter
+    isaaclab.devices.retargeters.Se3AbsRetargeter
+    isaaclab.devices.retargeters.Se3RelRetargeter
 
   .. rubric:: Modules
 
   .. autosummary::
 
-    isaaclab.devices.openxr.retargeters
+    isaaclab.devices.retargeters
 
 Device Base
 -----------
@@ -116,25 +115,19 @@ Manus + Vive
 Retargeters
 -----------
 
-.. autoclass:: isaaclab.devices.openxr.retargeters.GripperRetargeter
+.. autoclass:: isaaclab.devices.retargeters.GripperRetargeter
     :members:
     :inherited-members:
     :show-inheritance:
     :noindex:
 
-.. autoclass:: isaaclab.devices.openxr.retargeters.Se3AbsRetargeter
+.. autoclass:: isaaclab.devices.retargeters.Se3AbsRetargeter
     :members:
     :inherited-members:
     :show-inheritance:
     :noindex:
 
-.. autoclass:: isaaclab.devices.openxr.retargeters.Se3RelRetargeter
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :noindex:
-
-.. autoclass:: isaaclab.devices.openxr.retargeters.GR1T2Retargeter
+.. autoclass:: isaaclab.devices.retargeters.Se3RelRetargeter
     :members:
     :inherited-members:
     :show-inheritance:
diff --git a/docs/source/how-to/cloudxr_teleoperation.rst b/docs/source/how-to/cloudxr_teleoperation.rst
index d05e1656f40..638d6d6982e 100644
--- a/docs/source/how-to/cloudxr_teleoperation.rst
+++ b/docs/source/how-to/cloudxr_teleoperation.rst
@@ -680,33 +680,21 @@ the OpenXRDevice during initialization.
 
 Isaac Lab provides three main retargeters for hand tracking:
 
-.. dropdown:: Se3RelRetargeter (:class:`isaaclab.devices.openxr.retargeters.Se3RelRetargeter`)
+.. dropdown:: Se3RelRetargeter (:class:`isaaclab.devices.retargeters.Se3RelRetargeter`)
 
    * Generates incremental robot commands from relative hand movements
    * Best for precise manipulation tasks
 
-.. dropdown:: Se3AbsRetargeter (:class:`isaaclab.devices.openxr.retargeters.Se3AbsRetargeter`)
+.. dropdown:: Se3AbsRetargeter (:class:`isaaclab.devices.retargeters.Se3AbsRetargeter`)
 
    * Maps hand position directly to robot end-effector position
    * Enables 1:1 spatial control
 
-.. dropdown:: GripperRetargeter (:class:`isaaclab.devices.openxr.retargeters.GripperRetargeter`)
+.. dropdown:: GripperRetargeter (:class:`isaaclab.devices.retargeters.GripperRetargeter`)
 
    * Controls gripper state based on thumb-index finger distance
    * Used alongside position retargeters for full robot control
 
-.. dropdown:: GR1T2Retargeter (:class:`isaaclab.devices.openxr.retargeters.GR1T2Retargeter`)
-
-   * Retargets OpenXR hand tracking data to GR1T2 hand end-effector commands
-   * Handles both left and right hands, converting hand poses to joint angles for the GR1T2 robot's hands
-   * Supports visualization of tracked hand joints
-
-.. dropdown:: UnitreeG1Retargeter (:class:`isaaclab.devices.openxr.retargeters.UnitreeG1Retargeter`)
-
-   * Retargets OpenXR hand tracking data to Unitree G1 using Inspire 5-finger hand end-effector commands
-   * Handles both left and right hands, converting hand poses to joint angles for the G1 robot's hands
-   * Supports visualization of tracked hand joints
-
 Retargeters can be combined to control different robot functions simultaneously.
 
 Using Retargeters with Hand Tracking
@@ -717,7 +705,7 @@ Here's an example of setting up hand tracking:
 .. code-block:: python
 
    from isaaclab.devices import OpenXRDevice, OpenXRDeviceCfg
-   from isaaclab.devices.openxr.retargeters import Se3AbsRetargeter, GripperRetargeter
+   from isaaclab.devices.retargeters import Se3AbsRetargeter, GripperRetargeter
 
    # Create retargeters
    position_retargeter = Se3AbsRetargeter(
@@ -796,7 +784,7 @@ XR-based teleoperation can be integrated with Isaac Lab's environment configurat
    from isaaclab.envs import ManagerBasedEnvCfg
    from isaaclab.devices import DevicesCfg, OpenXRDeviceCfg
    from isaaclab.devices.openxr import XrCfg
-   from isaaclab.devices.openxr.retargeters import Se3AbsRetargeterCfg, GripperRetargeterCfg
+   from isaaclab.devices.retargeters import Se3AbsRetargeterCfg, GripperRetargeterCfg
 
    @configclass
    class MyEnvironmentCfg(ManagerBasedEnvCfg):
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/__init__.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/__init__.py
index d4e12bd40ed..06d5d319d77 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/__init__.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/__init__.py
@@ -2,23 +2,20 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-"""Retargeters for mapping input device data to robot commands."""
 
-from .humanoid.fourier.gr1t2_retargeter import GR1T2Retargeter, GR1T2RetargeterCfg
-from .humanoid.unitree.g1_lower_body_standing import G1LowerBodyStandingRetargeter, G1LowerBodyStandingRetargeterCfg
-from .humanoid.unitree.g1_motion_controller_locomotion import (
-    G1LowerBodyStandingMotionControllerRetargeter,
-    G1LowerBodyStandingMotionControllerRetargeterCfg,
-)
-from .humanoid.unitree.inspire.g1_upper_body_retargeter import UnitreeG1Retargeter, UnitreeG1RetargeterCfg
-from .humanoid.unitree.trihand.g1_upper_body_motion_ctrl_retargeter import (
-    G1TriHandUpperBodyMotionControllerRetargeter,
-    G1TriHandUpperBodyMotionControllerRetargeterCfg,
-)
-from .humanoid.unitree.trihand.g1_upper_body_retargeter import (
-    G1TriHandUpperBodyRetargeter,
-    G1TriHandUpperBodyRetargeterCfg,
+"""
+Backward compatibility shim for retargeters.
+
+.. warning::
+    This module is deprecated. Please use :mod:`isaaclab.devices.retargeters` instead.
+"""
+
+import warnings
+
+from isaaclab.devices.retargeters import *  # noqa: F401, F403
+
+warnings.warn(
+    "isaaclab.devices.openxr.retargeters has moved to isaaclab.devices.retargeters. Please update your imports.",
+    DeprecationWarning,
+    stacklevel=2,
 )
-from .manipulator.gripper_retargeter import GripperRetargeter, GripperRetargeterCfg
-from .manipulator.se3_abs_retargeter import Se3AbsRetargeter, Se3AbsRetargeterCfg
-from .manipulator.se3_rel_retargeter import Se3RelRetargeter, Se3RelRetargeterCfg
diff --git a/source/isaaclab/isaaclab/devices/retargeters/__init__.py b/source/isaaclab/isaaclab/devices/retargeters/__init__.py
new file mode 100644
index 00000000000..1d1a0d3e93a
--- /dev/null
+++ b/source/isaaclab/isaaclab/devices/retargeters/__init__.py
@@ -0,0 +1,21 @@
+# 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
+"""Retargeters for mapping input device data to robot commands."""
+
+from .dex.dex_hand_retargeter import (
+    DexBiManualRetargeter,
+    DexBiManualRetargeterCfg,
+    DexHandRetargeter,
+    DexHandRetargeterCfg,
+)
+from .dex.dex_motion_controller import DexMotionController, DexMotionControllerCfg
+from .locomotion.locomotion_fixed_root_cmd_retargeter import (
+    LocomotionFixedRootCmdRetargeter,
+    LocomotionFixedRootCmdRetargeterCfg,
+)
+from .locomotion.locomotion_root_cmd_retargeter import LocomotionRootCmdRetargeter, LocomotionRootCmdRetargeterCfg
+from .manipulator.gripper_retargeter import GripperRetargeter, GripperRetargeterCfg
+from .manipulator.se3_abs_retargeter import Se3AbsRetargeter, Se3AbsRetargeterCfg
+from .manipulator.se3_rel_retargeter import Se3RelRetargeter, Se3RelRetargeterCfg
diff --git a/source/isaaclab/isaaclab/devices/retargeters/dex/__init__.py b/source/isaaclab/isaaclab/devices/retargeters/dex/__init__.py
new file mode 100644
index 00000000000..7e1ea406a2f
--- /dev/null
+++ b/source/isaaclab/isaaclab/devices/retargeters/dex/__init__.py
@@ -0,0 +1,7 @@
+# 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
+
+from .dex_hand_retargeter import DexHandRetargeter, DexHandRetargeterCfg
+from .dex_motion_controller import DexMotionController, DexMotionControllerCfg
diff --git a/source/isaaclab/isaaclab/devices/retargeters/dex/dex_hand_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/dex/dex_hand_retargeter.py
new file mode 100644
index 00000000000..e50e638da33
--- /dev/null
+++ b/source/isaaclab/isaaclab/devices/retargeters/dex/dex_hand_retargeter.py
@@ -0,0 +1,292 @@
+# 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
+
+from __future__ import annotations
+
+import contextlib
+import numpy as np
+import torch
+import yaml
+from dataclasses import MISSING, dataclass
+from scipy.spatial.transform import Rotation as R
+
+import isaaclab.sim as sim_utils
+from isaaclab.devices.device_base import DeviceBase
+from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
+from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
+from isaaclab.utils.assets import retrieve_file_path
+
+# Helper to import dex_retargeting which might not be available on all platforms
+with contextlib.suppress(ImportError):
+    from dex_retargeting.retargeting_config import RetargetingConfig
+
+
+class DexHandRetargeter(RetargeterBase):
+    """Generic retargeter for dexterous hands using the dex_retargeting library.
+
+    This class wraps the dex_retargeting library to retarget OpenXR hand tracking data
+    to robot hand joint angles. It supports configuration via YAML files and URDFs.
+    """
+
+    def __init__(self, cfg: DexHandRetargeterCfg):
+        """Initialize the retargeter.
+
+        Args:
+            cfg: Configuration for the retargeter.
+        """
+        super().__init__(cfg)
+
+        # Check if dex_retargeting is available
+        if "dex_retargeting" not in globals() and "RetargetingConfig" not in globals():
+            raise ImportError("The 'dex_retargeting' package is required but not installed.")
+
+        self._sim_device = cfg.sim_device
+        self._hand_joint_names = cfg.hand_joint_names
+        self._target = cfg.target
+
+        # Setup paths
+        self._prepare_configs(cfg)
+
+        # Initialize dex retargeting optimizer
+        self._dex_hand = RetargetingConfig.load_from_file(cfg.hand_retargeting_config).build()
+
+        # Cache joint names from optimizer
+        self._dof_names = self._dex_hand.optimizer.robot.dof_joint_names
+
+        # Store transforms
+        self._handtracking2baselink = np.array(cfg.handtracking_to_baselink_frame_transform).reshape(3, 3)
+
+        # Map OpenXR joints (26) to Dex-retargeting (21)
+        # Indices: [Wrist, Thumb(4), Index(4), Middle(4), Ring(4), Pinky(4)]
+        # OpenXR: Wrist(1), Thumb(4), Index(5), Middle(5), Ring(5), Pinky(5)
+        # Note: We skip the metacarpal for non-thumb fingers in OpenXR if needed,
+        # but here we use the standard mapping from existing utils.
+        self._hand_joints_index = [1, 2, 3, 4, 5, 7, 8, 9, 10, 12, 13, 14, 15, 17, 18, 19, 20, 22, 23, 24, 25]
+
+        # Visualization
+        self._enable_visualization = cfg.enable_visualization
+        self._num_open_xr_hand_joints = cfg.num_open_xr_hand_joints
+        if self._enable_visualization:
+            marker_cfg = VisualizationMarkersCfg(
+                prim_path=f"/Visuals/dex_hand_markers_{self._target.name}",
+                markers={
+                    "joint": sim_utils.SphereCfg(
+                        radius=0.005,
+                        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+                    ),
+                },
+            )
+            self._markers = VisualizationMarkers(marker_cfg)
+
+    def retarget(self, data: dict) -> torch.Tensor:
+        """Process input data and return retargeted joint angles.
+
+        Args:
+            data: Dictionary mapping tracking targets to joint data dictionaries.
+
+        Returns:
+            torch.Tensor: Tensor of hand joint angles.
+        """
+        hand_poses = data.get(self._target)
+
+        # Visualization
+        if self._enable_visualization and hand_poses:
+            # Visualize the raw tracked points
+            joints_position = np.array([pose[:3] for pose in hand_poses.values()])
+            self._markers.visualize(
+                translations=torch.tensor(joints_position, device=self._sim_device, dtype=torch.float32)
+            )
+
+        # Compute
+        q = self._compute_hand(hand_poses, self._dex_hand, self._handtracking2baselink)
+
+        # Map to output vector based on configured joint names
+        retargeted_joints = np.zeros(len(self._hand_joint_names))
+
+        for i, name in enumerate(self._dof_names):
+            if name in self._hand_joint_names:
+                idx = self._hand_joint_names.index(name)
+                retargeted_joints[idx] = q[i]
+
+        return torch.tensor(retargeted_joints, dtype=torch.float32, device=self._sim_device)
+
+    def get_requirements(self) -> list[RetargeterBase.Requirement]:
+        return [RetargeterBase.Requirement.HAND_TRACKING]
+
+    # -- Internal Helpers --
+
+    def _prepare_configs(self, cfg: DexHandRetargeterCfg):
+        """Downloads URDFs if needed and updates YAML config files."""
+        # Retrieve URDF (downloads if URL, returns path if local)
+        local_urdf = retrieve_file_path(cfg.hand_urdf, force_download=True)
+
+        # Update YAML
+        self._update_yaml(cfg.hand_retargeting_config, local_urdf)
+
+    def _update_yaml(self, yaml_path: str, urdf_path: str):
+        """Updates the 'urdf_path' field in the retargeting YAML config."""
+        try:
+            with open(yaml_path) as f:
+                config = yaml.safe_load(f)
+
+            if "retargeting" in config:
+                config["retargeting"]["urdf_path"] = urdf_path
+                with open(yaml_path, "w") as f:
+                    yaml.dump(config, f)
+        except Exception as e:
+            print(f"[DexHandRetargeter] Error updating YAML {yaml_path}: {e}")
+
+    def _compute_hand(self, poses: dict | None, retargeting: RetargetingConfig, op2mano: np.ndarray) -> np.ndarray:
+        """Computes retargeting for a single hand."""
+        if poses is None:
+            return np.zeros(len(retargeting.optimizer.robot.dof_joint_names))
+
+        # 1. Extract positions for relevant joints
+        hand_joints = list(poses.values())
+        joint_pos = np.zeros((21, 3))
+        for i, idx in enumerate(self._hand_joints_index):
+            joint_pos[i] = hand_joints[idx][:3]
+
+        # 2. Transform to canonical frame
+        # Center at wrist (index 0 of our subset, which maps to OpenXR 'wrist' at index 1)
+        joint_pos = joint_pos - joint_pos[0:1, :]
+
+        # Apply wrist rotation alignment (OpenXR w,x,y,z -> Scipy x,y,z,w)
+        wrist_pose = poses.get("wrist")
+        if wrist_pose is None:
+            return np.zeros(len(retargeting.optimizer.robot.dof_joint_names))
+        xr_wrist_quat = wrist_pose[3:]
+        wrist_rot = R.from_quat([xr_wrist_quat[1], xr_wrist_quat[2], xr_wrist_quat[3], xr_wrist_quat[0]]).as_matrix()
+
+        target_pos = joint_pos @ wrist_rot @ op2mano
+
+        # 3. Compute reference value for optimizer
+        indices = retargeting.optimizer.target_link_human_indices
+        if retargeting.optimizer.retargeting_type == "POSITION":
+            ref_value = target_pos[indices, :]
+        else:
+            origin_indices = indices[0, :]
+            task_indices = indices[1, :]
+            ref_value = target_pos[task_indices, :] - target_pos[origin_indices, :]
+
+        # 4. Run optimizer
+        with torch.enable_grad(), torch.inference_mode(False):
+            return retargeting.retarget(ref_value)
+
+
+@dataclass(kw_only=True)
+class DexHandRetargeterCfg(RetargeterCfg):
+    """Configuration for the generic dexterous hand retargeter."""
+
+    retargeter_type: type[RetargeterBase] = DexHandRetargeter
+
+    # Target Hand
+    target: DeviceBase.TrackingTarget = MISSING
+
+    # Joint Names
+    hand_joint_names: list[str] = MISSING
+
+    # Config Paths
+    hand_retargeting_config: str = MISSING
+    hand_urdf: str = MISSING
+
+    # Transforms (3x3 matrix flattened to 9 elements)
+    # Default: G1/Inspire coordinate frame
+    handtracking_to_baselink_frame_transform: tuple[float, ...] = (0, 0, 1, 1, 0, 0, 0, 1, 0)
+
+    enable_visualization: bool = False
+    num_open_xr_hand_joints: int = 26
+
+
+class DexBiManualRetargeter(RetargeterBase):
+    """Wrapper around two DexHandRetargeters to support bimanual retargeting with custom joint ordering.
+
+    This class instantiates two :class:`DexHandRetargeter` instances (one for each hand) and combines
+    their outputs into a single vector ordered according to `target_joint_names`.
+    """
+
+    def __init__(self, cfg: DexBiManualRetargeterCfg):
+        """Initialize the retargeter.
+
+        Args:
+            cfg: Configuration for the retargeter.
+        """
+        super().__init__(cfg)
+        self._sim_device = cfg.sim_device
+
+        # Initialize individual retargeters
+        self._left_retargeter = DexHandRetargeter(cfg.left_hand_cfg)
+        self._right_retargeter = DexHandRetargeter(cfg.right_hand_cfg)
+
+        self._target_joint_names = cfg.target_joint_names
+
+        # Prepare index mapping for fast runtime reordering
+        self._left_indices = []
+        self._right_indices = []
+        self._output_indices_left = []
+        self._output_indices_right = []
+
+        left_joints = cfg.left_hand_cfg.hand_joint_names
+        right_joints = cfg.right_hand_cfg.hand_joint_names
+
+        for i, name in enumerate(self._target_joint_names):
+            if name in left_joints:
+                self._output_indices_left.append(i)
+                self._left_indices.append(left_joints.index(name))
+            elif name in right_joints:
+                self._output_indices_right.append(i)
+                self._right_indices.append(right_joints.index(name))
+            else:
+                pass
+
+        # Convert to tensors for advanced indexing
+        self._left_src_idx = torch.tensor(self._left_indices, device=self._sim_device, dtype=torch.long)
+        self._left_dst_idx = torch.tensor(self._output_indices_left, device=self._sim_device, dtype=torch.long)
+
+        self._right_src_idx = torch.tensor(self._right_indices, device=self._sim_device, dtype=torch.long)
+        self._right_dst_idx = torch.tensor(self._output_indices_right, device=self._sim_device, dtype=torch.long)
+
+    def retarget(self, data: dict) -> torch.Tensor:
+        """Process input data and return retargeted joint angles.
+
+        Args:
+            data: Dictionary mapping tracking targets to joint data dictionaries.
+
+        Returns:
+            torch.Tensor: Tensor of combined hand joint angles.
+        """
+        left_out = self._left_retargeter.retarget(data)
+        right_out = self._right_retargeter.retarget(data)
+
+        # Create output buffer
+        combined = torch.zeros(len(self._target_joint_names), device=self._sim_device, dtype=torch.float32)
+
+        if len(self._left_dst_idx) > 0:
+            combined[self._left_dst_idx] = left_out[self._left_src_idx]
+
+        if len(self._right_dst_idx) > 0:
+            combined[self._right_dst_idx] = right_out[self._right_src_idx]
+
+        return combined
+
+    def get_requirements(self) -> list[RetargeterBase.Requirement]:
+        reqs = set()
+        reqs.update(self._left_retargeter.get_requirements())
+        reqs.update(self._right_retargeter.get_requirements())
+        return list(reqs)
+
+
+@dataclass(kw_only=True)
+class DexBiManualRetargeterCfg(RetargeterCfg):
+    """Configuration for the bimanual dexterous hand retargeter."""
+
+    retargeter_type: type[RetargeterBase] = DexBiManualRetargeter
+
+    # Configurations for individual hands
+    left_hand_cfg: DexHandRetargeterCfg = MISSING
+    right_hand_cfg: DexHandRetargeterCfg = MISSING
+
+    # Combined joint names for the output
+    target_joint_names: list[str] = MISSING
diff --git a/source/isaaclab/isaaclab/devices/retargeters/dex/dex_motion_controller.py b/source/isaaclab/isaaclab/devices/retargeters/dex/dex_motion_controller.py
new file mode 100644
index 00000000000..2232e2f5e27
--- /dev/null
+++ b/source/isaaclab/isaaclab/devices/retargeters/dex/dex_motion_controller.py
@@ -0,0 +1,127 @@
+# 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
+
+from __future__ import annotations
+
+import numpy as np
+import torch
+from dataclasses import MISSING, dataclass
+
+from isaaclab.devices.device_base import DeviceBase
+from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
+
+
+class DexMotionController(RetargeterBase):
+    """Retargeter that maps motion controller inputs to robot hand joint angles.
+
+    This class implements simple logic to map button presses and trigger/joystick inputs
+    to finger joint angles. It is specifically designed for the G1/Inspire hands mapping logic.
+    """
+
+    def __init__(self, cfg: DexMotionControllerCfg):
+        """Initialize the retargeter.
+
+        Args:
+            cfg: Configuration for the retargeter.
+        """
+        super().__init__(cfg)
+        self._sim_device = cfg.sim_device
+        self._hand_joint_names = cfg.hand_joint_names
+        self._target = cfg.target
+        self._is_left = self._target == DeviceBase.TrackingTarget.CONTROLLER_LEFT
+
+        # Visualization not implemented for this simple mapper yet, but cfg supports it
+        self._enable_visualization = cfg.enable_visualization
+
+    def retarget(self, data: dict) -> torch.Tensor:
+        """Process input data and return retargeted joint angles.
+
+        Args:
+            data: Dictionary mapping tracking targets to controller data.
+
+        Returns:
+            torch.Tensor: Tensor of hand joint angles.
+        """
+        controller_data = data.get(self._target, np.array([]))
+
+        # Map controller inputs to hand joints
+        # Returns 7 joints: [ThumbRot, Thumb1, Thumb2, Index1, Index2, Middle1, Middle2]
+        joints = self._map_to_hand_joints(controller_data, is_left=self._is_left)
+
+        if self._is_left:
+            # Negate left hand joints for proper mirroring
+            joints = -joints
+
+        # The internal map returns 7 DOFs. We assume the hand_joint_names provided
+        # correspond to these 7 DOFs in order, or we return them as is if names match count.
+        # Internal Order:
+        # 0: Thumb Rotation
+        # 1: Thumb Middle/Proximal
+        # 2: Thumb Distal
+        # 3: Index Proximal
+        # 4: Index Distal
+        # 5: Middle Proximal
+        # 6: Middle Distal
+
+        # If the user provided specific joint names, we might need to map, but
+        # for this simple controller we return the 7-dof vector.
+        # Note: The previous implementation hardcoded a specific interleaving for two hands.
+        # Here we return the single hand 7-dof vector.
+
+        return torch.tensor(joints, dtype=torch.float32, device=self._sim_device)
+
+    def get_requirements(self) -> list[RetargeterBase.Requirement]:
+        return [RetargeterBase.Requirement.MOTION_CONTROLLER]
+
+    def _map_to_hand_joints(self, controller_data: np.ndarray, is_left: bool) -> np.ndarray:
+        """Map controller inputs to hand joint angles."""
+        hand_joints = np.zeros(7)
+
+        if len(controller_data) <= DeviceBase.MotionControllerDataRowIndex.INPUTS.value:
+            return hand_joints
+
+        inputs = controller_data[DeviceBase.MotionControllerDataRowIndex.INPUTS.value]
+        if len(inputs) < len(DeviceBase.MotionControllerInputIndex):
+            return hand_joints
+
+        trigger = inputs[DeviceBase.MotionControllerInputIndex.TRIGGER.value]
+        squeeze = inputs[DeviceBase.MotionControllerInputIndex.SQUEEZE.value]
+
+        thumb_button = max(trigger, squeeze)
+        thumb_angle = -thumb_button
+
+        thumb_rotation = 0.5 * trigger - 0.5 * squeeze
+        if not is_left:
+            thumb_rotation = -thumb_rotation
+
+        hand_joints[0] = thumb_rotation
+        hand_joints[1] = thumb_angle * 0.4
+        hand_joints[2] = thumb_angle * 0.7
+
+        index_angle = trigger * 1.0
+        hand_joints[3] = index_angle
+        hand_joints[4] = index_angle
+
+        middle_angle = squeeze * 1.0
+        hand_joints[5] = middle_angle
+        hand_joints[6] = middle_angle
+
+        return hand_joints
+
+
+@dataclass(kw_only=True)
+class DexMotionControllerCfg(RetargeterCfg):
+    """Configuration for the dexterous motion controller retargeter."""
+
+    retargeter_type: type[RetargeterBase] = DexMotionController
+
+    # Target
+    target: DeviceBase.TrackingTarget = MISSING
+
+    # Configuration
+    hand_joint_names: list[str] = MISSING
+    hand_urdf: str = MISSING  # Added as requested parameter
+
+    enable_visualization: bool = False
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py b/source/isaaclab/isaaclab/devices/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py
rename to source/isaaclab/isaaclab/devices/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/humanoid/fourier/gr1t2_retargeter.py
similarity index 92%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_retargeter.py
rename to source/isaaclab/isaaclab/devices/retargeters/humanoid/fourier/gr1t2_retargeter.py
index a352580c2e9..a96277b2719 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1t2_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/humanoid/fourier/gr1t2_retargeter.py
@@ -8,6 +8,7 @@
 import contextlib
 import numpy as np
 import torch
+import warnings
 from dataclasses import dataclass
 
 import isaaclab.sim as sim_utils
@@ -22,10 +23,10 @@
 
 
 class GR1T2Retargeter(RetargeterBase):
-    """Retargets OpenXR hand tracking data to GR1T2 hand end-effector commands.
+    """Retargets hand tracking data to GR1T2 hand end-effector commands.
 
-    This retargeter maps hand tracking data from OpenXR to joint commands for the GR1T2 robot's hands.
-    It handles both left and right hands, converting poses of the hands in OpenXR format joint angles for the GR1T2 robot's hands.
+    This retargeter maps hand tracking data to joint commands for the GR1T2 robot's hands.
+    It handles both left and right hands, converting poses of the hands in the tracking format to joint angles for the GR1T2 robot's hands.
     """
 
     def __init__(
@@ -40,6 +41,12 @@ def __init__(
             device: PyTorch device for computations
             hand_joint_names: List of robot hand joint names
         """
+        warnings.warn(
+            "The 'GR1T2Retargeter' class is deprecated and will be removed in a future release. "
+            "Please use 'isaaclab.devices.retargeters.DexHandRetargeter' instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
 
         super().__init__(cfg)
         self._hand_joint_names = cfg.hand_joint_names
@@ -118,7 +125,7 @@ def _retarget_abs(self, wrist: np.ndarray) -> np.ndarray:
         """Handle absolute pose retargeting.
 
         Args:
-            wrist: Wrist pose data from OpenXR
+            wrist: Wrist pose data
 
         Returns:
             Retargeted wrist pose in USD control frame
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py
rename to source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py
similarity index 96%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py
rename to source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py
index 74fa7518e90..ceff9ca2507 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py
@@ -8,6 +8,7 @@
 import contextlib
 import numpy as np
 import torch
+import warnings
 from dataclasses import dataclass
 
 import isaaclab.sim as sim_utils
@@ -40,6 +41,12 @@ def __init__(
             device: PyTorch device for computations
             hand_joint_names: List of robot hand joint names
         """
+        warnings.warn(
+            "The 'UnitreeG1Retargeter' class is deprecated and will be removed in a future release. "
+            "Please use 'isaaclab.devices.retargeters.DexHandRetargeter' instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
 
         super().__init__(cfg)
         self._hand_joint_names = cfg.hand_joint_names
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py
rename to source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_retargeter.py
similarity index 96%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_retargeter.py
rename to source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_retargeter.py
index 49481da6d6f..a5dc68b20af 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_upper_body_motion_ctrl_retargeter.py
@@ -7,6 +7,7 @@
 
 import numpy as np
 import torch
+import warnings
 from dataclasses import dataclass
 
 import isaaclab.sim as sim_utils
@@ -27,6 +28,12 @@ class G1TriHandUpperBodyMotionControllerRetargeter(RetargeterBase):
 
     def __init__(self, cfg: G1TriHandUpperBodyMotionControllerRetargeterCfg):
         """Initialize the retargeter."""
+        warnings.warn(
+            "The 'G1TriHandUpperBodyMotionControllerRetargeter' class is deprecated and will be removed in a future"
+            " release. Please use 'isaaclab.devices.retargeters.DexMotionController' instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         super().__init__(cfg)
         self._sim_device = cfg.sim_device
         self._hand_joint_names = cfg.hand_joint_names
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
similarity index 96%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
rename to source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
index 8e432aa59fe..fbaf3aa3c66 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/humanoid/unitree/trihand/g1_upper_body_retargeter.py
@@ -8,6 +8,7 @@
 import contextlib
 import numpy as np
 import torch
+import warnings
 from dataclasses import dataclass
 
 import isaaclab.sim as sim_utils
@@ -38,6 +39,12 @@ def __init__(
         Args:
             cfg: Configuration for the retargeter.
         """
+        warnings.warn(
+            "The 'G1TriHandUpperBodyRetargeter' class is deprecated and will be removed in a future release. "
+            "Please use 'isaaclab.devices.retargeters.DexHandRetargeter' instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         super().__init__(cfg)
 
         # Store device name for runtime retrieval
diff --git a/source/isaaclab/isaaclab/devices/retargeters/locomotion/__init__.py b/source/isaaclab/isaaclab/devices/retargeters/locomotion/__init__.py
new file mode 100644
index 00000000000..61529bcb89b
--- /dev/null
+++ b/source/isaaclab/isaaclab/devices/retargeters/locomotion/__init__.py
@@ -0,0 +1,7 @@
+# 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
+
+from .locomotion_fixed_root_cmd_retargeter import LocomotionFixedRootCmdRetargeter, LocomotionFixedRootCmdRetargeterCfg
+from .locomotion_root_cmd_retargeter import LocomotionRootCmdRetargeter, LocomotionRootCmdRetargeterCfg
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py b/source/isaaclab/isaaclab/devices/retargeters/locomotion/locomotion_fixed_root_cmd_retargeter.py
similarity index 55%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py
rename to source/isaaclab/isaaclab/devices/retargeters/locomotion/locomotion_fixed_root_cmd_retargeter.py
index 3c7f4309b05..f54a0aa9686 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_lower_body_standing.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/locomotion/locomotion_fixed_root_cmd_retargeter.py
@@ -11,15 +11,20 @@
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
 
 
-class G1LowerBodyStandingRetargeter(RetargeterBase):
-    """Provides lower body standing commands for the G1 robot."""
+class LocomotionFixedRootCmdRetargeter(RetargeterBase):
+    """Provides fixed root commands (velocity zero, fixed hip height).
 
-    def __init__(self, cfg: G1LowerBodyStandingRetargeterCfg):
+    Useful for standing still or when motion controllers are not available but the pipeline expects
+    locomotion commands.
+    """
+
+    def __init__(self, cfg: LocomotionFixedRootCmdRetargeterCfg):
         """Initialize the retargeter."""
         super().__init__(cfg)
         self.cfg = cfg
 
     def retarget(self, data: dict) -> torch.Tensor:
+        # Returns [vel_x, vel_y, rot_vel_z, hip_height]
         return torch.tensor([0.0, 0.0, 0.0, self.cfg.hip_height], device=self.cfg.sim_device)
 
     def get_requirements(self) -> list[RetargeterBase.Requirement]:
@@ -28,9 +33,10 @@ def get_requirements(self) -> list[RetargeterBase.Requirement]:
 
 
 @dataclass
-class G1LowerBodyStandingRetargeterCfg(RetargeterCfg):
-    """Configuration for the G1 lower body standing retargeter."""
+class LocomotionFixedRootCmdRetargeterCfg(RetargeterCfg):
+    """Configuration for the fixed locomotion root command retargeter."""
 
     hip_height: float = 0.72
-    """Height of the G1 robot hip in meters. The value is a fixed height suitable for G1 to do tabletop manipulation."""
-    retargeter_type: type[RetargeterBase] = G1LowerBodyStandingRetargeter
+    """Height of the robot hip in meters."""
+
+    retargeter_type: type[RetargeterBase] = LocomotionFixedRootCmdRetargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_motion_controller_locomotion.py b/source/isaaclab/isaaclab/devices/retargeters/locomotion/locomotion_root_cmd_retargeter.py
similarity index 76%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_motion_controller_locomotion.py
rename to source/isaaclab/isaaclab/devices/retargeters/locomotion/locomotion_root_cmd_retargeter.py
index a3dd950e882..e660a431608 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_motion_controller_locomotion.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/locomotion/locomotion_root_cmd_retargeter.py
@@ -13,14 +13,20 @@
 from isaaclab.sim import SimulationContext
 
 
-class G1LowerBodyStandingMotionControllerRetargeter(RetargeterBase):
-    """Provides lower body standing commands for the G1 robot."""
+class LocomotionRootCmdRetargeter(RetargeterBase):
+    """Provides root velocity and hip height commands for locomotion.
 
-    def __init__(self, cfg: G1LowerBodyStandingMotionControllerRetargeterCfg):
+    This retargeter maps motion controller thumbsticks to:
+    - Linear velocity (X, Y)
+    - Angular velocity (Z)
+    - Hip height adjustment
+    """
+
+    def __init__(self, cfg: LocomotionRootCmdRetargeterCfg):
         """Initialize the retargeter."""
         super().__init__(cfg)
         self.cfg = cfg
-        self._hip_height = cfg.hip_height
+        self._hip_height = cfg.initial_hip_height
 
     def retarget(self, data: dict) -> torch.Tensor:
         left_thumbstick_x = 0.0
@@ -51,7 +57,7 @@ def retarget(self, data: dict) -> torch.Tensor:
                     right_thumbstick_x = right_inputs[DeviceBase.MotionControllerInputIndex.THUMBSTICK_X.value]
                     right_thumbstick_y = right_inputs[DeviceBase.MotionControllerInputIndex.THUMBSTICK_Y.value]
 
-        # Thumbstick values are in the range of [-1, 1], so we need to scale them to the range of [-movement_scale, movement_scale]
+        # Thumbstick values are in the range of [-1, 1], so we need to scale them
         left_thumbstick_x = left_thumbstick_x * self.cfg.movement_scale
         left_thumbstick_y = left_thumbstick_y * self.cfg.movement_scale
 
@@ -60,6 +66,10 @@ def retarget(self, data: dict) -> torch.Tensor:
         self._hip_height -= right_thumbstick_y * dt * self.cfg.rotation_scale
         self._hip_height = max(0.4, min(1.0, self._hip_height))
 
+        # Returns [vel_x, vel_y, rot_vel_z, hip_height]
+        # Note: left_thumbstick_y is forward/backward, so it maps to X velocity (negated because up is +1)
+        #       left_thumbstick_x is left/right, so it maps to Y velocity (negated because right is +1)
+        #       right_thumbstick_x is rotation, so it maps to Z angular velocity (negated)
         return torch.tensor(
             [-left_thumbstick_y, -left_thumbstick_x, -right_thumbstick_x, self._hip_height],
             device=self.cfg.sim_device,
@@ -71,15 +81,16 @@ def get_requirements(self) -> list[RetargeterBase.Requirement]:
 
 
 @dataclass
-class G1LowerBodyStandingMotionControllerRetargeterCfg(RetargeterCfg):
-    """Configuration for the G1 lower body standing retargeter."""
+class LocomotionRootCmdRetargeterCfg(RetargeterCfg):
+    """Configuration for the locomotion root command retargeter."""
 
-    hip_height: float = 0.72
-    """Height of the G1 robot hip in meters. The value is a fixed height suitable for G1 to do tabletop manipulation."""
+    initial_hip_height: float = 0.72
+    """Initial height of the robot hip in meters."""
 
     movement_scale: float = 0.5
     """Scale the movement of the robot to the range of [-movement_scale, movement_scale]."""
 
     rotation_scale: float = 0.35
     """Scale the rotation of the robot to the range of [-rotation_scale, rotation_scale]."""
-    retargeter_type: type[RetargeterBase] = G1LowerBodyStandingMotionControllerRetargeter
+
+    retargeter_type: type[RetargeterBase] = LocomotionRootCmdRetargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/__init__.py b/source/isaaclab/isaaclab/devices/retargeters/manipulator/__init__.py
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/__init__.py
rename to source/isaaclab/isaaclab/devices/retargeters/manipulator/__init__.py
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/gripper_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/manipulator/gripper_retargeter.py
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/gripper_retargeter.py
rename to source/isaaclab/isaaclab/devices/retargeters/manipulator/gripper_retargeter.py
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/manipulator/se3_abs_retargeter.py
similarity index 69%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py
rename to source/isaaclab/isaaclab/devices/retargeters/manipulator/se3_abs_retargeter.py
index fd82ab07556..c7b28c27cd4 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_abs_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/manipulator/se3_abs_retargeter.py
@@ -16,7 +16,7 @@
 
 
 class Se3AbsRetargeter(RetargeterBase):
-    """Retargets OpenXR hand tracking data to end-effector commands using absolute positioning.
+    """Retargets hand tracking data to end-effector commands using absolute positioning.
 
     This retargeter maps hand joint poses directly to robot end-effector positions and orientations,
     rather than using relative movements. It can either:
@@ -43,9 +43,15 @@ def __init__(
             device: The device to place the returned tensor on ('cpu' or 'cuda')
         """
         super().__init__(cfg)
-        if cfg.bound_hand not in [DeviceBase.TrackingTarget.HAND_LEFT, DeviceBase.TrackingTarget.HAND_RIGHT]:
+        if cfg.bound_hand not in [
+            DeviceBase.TrackingTarget.HAND_LEFT,
+            DeviceBase.TrackingTarget.HAND_RIGHT,
+            DeviceBase.TrackingTarget.CONTROLLER_LEFT,
+            DeviceBase.TrackingTarget.CONTROLLER_RIGHT,
+        ]:
             raise ValueError(
-                "bound_hand must be either DeviceBase.TrackingTarget.HAND_LEFT or DeviceBase.TrackingTarget.HAND_RIGHT"
+                "bound_hand must be one of [HAND_LEFT, HAND_RIGHT, CONTROLLER_LEFT, CONTROLLER_RIGHT], got"
+                f" {cfg.bound_hand}"
             )
         self.bound_hand = cfg.bound_hand
 
@@ -53,6 +59,11 @@ def __init__(
         self._use_wrist_rotation = cfg.use_wrist_rotation
         self._use_wrist_position = cfg.use_wrist_position
 
+        # Store offsets
+        self._target_offset_pos = np.array(cfg.target_offset_pos)
+        # Convert w,x,y,z (Isaac Lab) to x,y,z,w (scipy)
+        self._target_offset_rot = np.array([*cfg.target_offset_rot[1:], cfg.target_offset_rot[0]])
+
         # Initialize visualization if enabled
         self._enable_visualization = cfg.enable_visualization
         if cfg.enable_visualization:
@@ -68,17 +79,32 @@ def retarget(self, data: dict) -> torch.Tensor:
 
         Args:
             data: Dictionary mapping tracking targets to joint data dictionaries.
-                The joint names are defined in isaaclab.devices.openxr.common.HAND_JOINT_NAMES
+                The joint names are defined in isaaclab.devices.openxr.common.HAND_JOINT_NAMES (if using OpenXR)
 
         Returns:
             torch.Tensor: 7D tensor containing position (xyz) and orientation (quaternion)
                 for the robot end-effector
         """
         # Extract key joint poses from the bound hand
-        hand_data = data[self.bound_hand]
-        thumb_tip = hand_data.get("thumb_tip")
-        index_tip = hand_data.get("index_tip")
-        wrist = hand_data.get("wrist")
+        hand_data = data.get(self.bound_hand)
+
+        if hand_data is None:
+            wrist = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
+            thumb_tip = None
+            index_tip = None
+        elif isinstance(hand_data, np.ndarray):
+            # Motion Controller Data: [Pose, Inputs]
+            if len(hand_data) > 0:
+                wrist = hand_data[0]
+            else:
+                wrist = np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
+            thumb_tip = None
+            index_tip = None
+        else:
+            # Hand Tracking Data: Dict
+            thumb_tip = hand_data.get("thumb_tip")
+            index_tip = hand_data.get("index_tip")
+            wrist = hand_data.get("wrist")
 
         ee_command_np = self._retarget_abs(thumb_tip, index_tip, wrist)
 
@@ -88,16 +114,23 @@ def retarget(self, data: dict) -> torch.Tensor:
         return ee_command
 
     def get_requirements(self) -> list[RetargeterBase.Requirement]:
+        if self.bound_hand in [
+            DeviceBase.TrackingTarget.CONTROLLER_LEFT,
+            DeviceBase.TrackingTarget.CONTROLLER_RIGHT,
+        ]:
+            return [RetargeterBase.Requirement.MOTION_CONTROLLER]
         return [RetargeterBase.Requirement.HAND_TRACKING]
 
-    def _retarget_abs(self, thumb_tip: np.ndarray, index_tip: np.ndarray, wrist: np.ndarray) -> np.ndarray:
+    def _retarget_abs(
+        self, thumb_tip: np.ndarray | None, index_tip: np.ndarray | None, wrist: np.ndarray
+    ) -> np.ndarray:
         """Handle absolute pose retargeting.
 
         Args:
             thumb_tip: 7D array containing position (xyz) and orientation (quaternion)
-                for the thumb tip
+                for the thumb tip. Can be None.
             index_tip: 7D array containing position (xyz) and orientation (quaternion)
-                for the index tip
+                for the index tip. Can be None.
             wrist: 7D array containing position (xyz) and orientation (quaternion)
                 for the wrist
 
@@ -107,13 +140,13 @@ def _retarget_abs(self, thumb_tip: np.ndarray, index_tip: np.ndarray, wrist: np.
         """
 
         # Get position
-        if self._use_wrist_position:
+        if self._use_wrist_position or thumb_tip is None or index_tip is None:
             position = wrist[:3]
         else:
             position = (thumb_tip[:3] + index_tip[:3]) / 2
 
         # Get rotation
-        if self._use_wrist_rotation:
+        if self._use_wrist_rotation or thumb_tip is None or index_tip is None:
             # wrist is w,x,y,z but scipy expects x,y,z,w
             base_rot = Rotation.from_quat([*wrist[4:], wrist[3]])
         else:
@@ -126,8 +159,13 @@ def _retarget_abs(self, thumb_tip: np.ndarray, index_tip: np.ndarray, wrist: np.
             slerp = Slerp(key_times, Rotation.concatenate([r0, r1]))
             base_rot = slerp([0.5])[0]
 
-        # Apply additional x-axis rotation to align with pinch gesture
-        final_rot = base_rot * Rotation.from_euler("x", 90, degrees=True)
+        # Apply offset rotation
+        # (previously hardcoded as base_rot * Rotation.from_euler("x", 90, degrees=True))
+        offset_rot = Rotation.from_quat(self._target_offset_rot)
+        final_rot = base_rot * offset_rot
+
+        # Apply position offset in the wrist frame (rotated by base_rot)
+        position = position + base_rot.apply(self._target_offset_pos)
 
         if self._zero_out_xy_rotation:
             z, y, x = final_rot.as_euler("ZYX")
@@ -166,6 +204,12 @@ class Se3AbsRetargeterCfg(RetargeterCfg):
     zero_out_xy_rotation: bool = True
     use_wrist_rotation: bool = False
     use_wrist_position: bool = True
+
+    # Default offset corresponds to Rotation.from_euler("x", 90, degrees=True)
+    # quaternion (w, x, y, z) to maintain backward compatibility
+    target_offset_rot: tuple[float, float, float, float] = (0.7071068, 0.7071068, 0.0, 0.0)
+    target_offset_pos: tuple[float, float, float] = (0.0, 0.0, 0.0)
+
     enable_visualization: bool = False
     bound_hand: DeviceBase.TrackingTarget = DeviceBase.TrackingTarget.HAND_RIGHT
     retargeter_type: type[RetargeterBase] = Se3AbsRetargeter
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py b/source/isaaclab/isaaclab/devices/retargeters/manipulator/se3_rel_retargeter.py
similarity index 98%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py
rename to source/isaaclab/isaaclab/devices/retargeters/manipulator/se3_rel_retargeter.py
index 5c70e9ea61a..7662f45dff0 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/manipulator/se3_rel_retargeter.py
+++ b/source/isaaclab/isaaclab/devices/retargeters/manipulator/se3_rel_retargeter.py
@@ -16,7 +16,7 @@
 
 
 class Se3RelRetargeter(RetargeterBase):
-    """Retargets OpenXR hand tracking data to end-effector commands using relative positioning.
+    """Retargets hand tracking data to end-effector commands using relative positioning.
 
     This retargeter calculates delta poses between consecutive hand joint poses to generate incremental robot movements.
     It can either:
@@ -90,7 +90,7 @@ def retarget(self, data: dict) -> torch.Tensor:
 
         Args:
             data: Dictionary mapping tracking targets to joint data dictionaries.
-                The joint names are defined in isaaclab.devices.openxr.common.HAND_JOINT_NAMES
+                The joint names are defined in isaaclab.devices.openxr.common.HAND_JOINT_NAMES (if using OpenXR)
 
         Returns:
             torch.Tensor: 6D tensor containing position (xyz) and rotation vector (rx,ry,rz)
diff --git a/source/isaaclab/setup.py b/source/isaaclab/setup.py
index 75fe5b9a3e7..e837c6be6f0 100644
--- a/source/isaaclab/setup.py
+++ b/source/isaaclab/setup.py
@@ -53,7 +53,7 @@
     # required by isaaclab.isaaclab.controllers.pink_ik
     f"pin-pink==3.1.0 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
     f"daqp==0.7.2 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
-    # required by isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1_t2_dex_retargeting_utils
+    # required by isaaclab.devices.retargeters.dex.dex_hand_retargeter
     f"dex-retargeting==0.4.6 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS})",
 ]
 
diff --git a/source/isaaclab/test/devices/test_device_constructors.py b/source/isaaclab/test/devices/test_device_constructors.py
index 83a2c9ddeba..4163628f69f 100644
--- a/source/isaaclab/test/devices/test_device_constructors.py
+++ b/source/isaaclab/test/devices/test_device_constructors.py
@@ -40,7 +40,7 @@
     Se3SpaceMouseCfg,
 )
 from isaaclab.devices.openxr import XrCfg
-from isaaclab.devices.openxr.retargeters import GripperRetargeterCfg, Se3AbsRetargeterCfg
+from isaaclab.devices.retargeters import GripperRetargeterCfg, Se3AbsRetargeterCfg
 
 # Import teleop device factory for testing
 from isaaclab.devices.teleop_device_factory import create_teleop_device
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/data/configs/dex-retargeting/g1_hand_left_dexpilot.yml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/dex_retargeting/g1_hand_left_dexpilot.yml
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/data/configs/dex-retargeting/g1_hand_left_dexpilot.yml
rename to source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/dex_retargeting/g1_hand_left_dexpilot.yml
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/data/configs/dex-retargeting/g1_hand_right_dexpilot.yml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/dex_retargeting/g1_hand_right_dexpilot.yml
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/data/configs/dex-retargeting/g1_hand_right_dexpilot.yml
rename to source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/dex_retargeting/g1_hand_right_dexpilot.yml
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
index e3ace99b520..6c3dd6fa85a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
@@ -4,16 +4,16 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
+import os
+
 from isaaclab_assets.robots.unitree import G1_29DOF_CFG
 
 import isaaclab.envs.mdp as base_mdp
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
-from isaaclab.devices.device_base import DevicesCfg
+from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg, XrCfg
-from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter import (
-    G1TriHandUpperBodyRetargeterCfg,
-)
+from isaaclab.devices.retargeters import DexHandRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
@@ -196,16 +196,53 @@ def __post_init__(self):
         # Retrieve local paths for the URDF and mesh files. Will be cached for call after the first time.
         self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
 
+        # Re-order hand joint names to grouping by hand (Left then Right)
+        original_hand_joints = self.actions.upper_body_ik.hand_joint_names
+        left_hand_joints = [j for j in original_hand_joints if "left" in j]
+        right_hand_joints = [j for j in original_hand_joints if "right" in j]
+        self.actions.upper_body_ik.hand_joint_names = left_hand_joints + right_hand_joints
+
         self.teleop_devices = DevicesCfg(
             devices={
                 "handtracking": OpenXRDeviceCfg(
                     retargeters=[
-                        G1TriHandUpperBodyRetargeterCfg(
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(0.7071, 0.0, 0.7071, 0.0),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.7071, 0.0, -0.7071),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        DexHandRetargeterCfg(
+                            target=DeviceBase.TrackingTarget.HAND_LEFT,
+                            enable_visualization=True,
+                            # OpenXR hand tracking has 26 joints per hand
+                            num_open_xr_hand_joints=26,
+                            sim_device=self.sim.device,
+                            hand_joint_names=left_hand_joints,
+                            hand_retargeting_config=os.path.join(
+                                os.path.dirname(__file__), "configs/dex_retargeting/g1_hand_left_dexpilot.yml"
+                            ),
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_dexpilot_asset/G1_left_hand.urdf",
+                            handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
+                        ),
+                        DexHandRetargeterCfg(
+                            target=DeviceBase.TrackingTarget.HAND_RIGHT,
                             enable_visualization=True,
                             # OpenXR hand tracking has 26 joints per hand
-                            num_open_xr_hand_joints=2 * 26,
+                            num_open_xr_hand_joints=26,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
+                            hand_joint_names=right_hand_joints,
+                            hand_retargeting_config=os.path.join(
+                                os.path.dirname(__file__), "configs/dex_retargeting/g1_hand_right_dexpilot.yml"
+                            ),
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_dexpilot_asset/G1_right_hand.urdf",
+                            handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
                         ),
                     ],
                     sim_device=self.sim.device,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
index e460c12d662..8676c7db051 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
@@ -3,24 +3,23 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import os
+
 from isaaclab_assets.robots.unitree import G1_29DOF_CFG
 
 import isaaclab.envs.mdp as base_mdp
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
-from isaaclab.devices.device_base import DevicesCfg
+from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg, XrCfg
-from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_lower_body_standing import G1LowerBodyStandingRetargeterCfg
-from isaaclab.devices.openxr.retargeters.humanoid.unitree.g1_motion_controller_locomotion import (
-    G1LowerBodyStandingMotionControllerRetargeterCfg,
-)
-from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_motion_ctrl_retargeter import (
-    G1TriHandUpperBodyMotionControllerRetargeterCfg,
-)
-from isaaclab.devices.openxr.retargeters.humanoid.unitree.trihand.g1_upper_body_retargeter import (
-    G1TriHandUpperBodyRetargeterCfg,
-)
 from isaaclab.devices.openxr.xr_cfg import XrAnchorRotationMode
+from isaaclab.devices.retargeters import (
+    DexBiManualRetargeterCfg,
+    DexHandRetargeterCfg,
+    DexMotionControllerCfg,
+    Se3AbsRetargeterCfg,
+)
+from isaaclab.devices.retargeters.locomotion import LocomotionFixedRootCmdRetargeterCfg, LocomotionRootCmdRetargeterCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
@@ -213,6 +212,11 @@ def __post_init__(self):
         # Retrieve local paths for the URDF and mesh files. Will be cached for call after the first time.
         self.actions.upper_body_ik.controller.urdf_path = retrieve_file_path(urdf_omniverse_path)
 
+        # Extract hand joint names for each hand
+        original_hand_joints = self.actions.upper_body_ik.hand_joint_names
+        left_hand_joints = [j for j in original_hand_joints if "left" in j]
+        right_hand_joints = [j for j in original_hand_joints if "right" in j]
+
         self.xr.anchor_prim_path = "/World/envs/env_0/Robot/pelvis"
         self.xr.fixed_anchor_height = True
         # Ensure XR anchor rotation follows the robot pelvis (yaw only), with smoothing for comfort
@@ -222,14 +226,51 @@ def __post_init__(self):
             devices={
                 "handtracking": OpenXRDeviceCfg(
                     retargeters=[
-                        G1TriHandUpperBodyRetargeterCfg(
-                            enable_visualization=True,
-                            # OpenXR hand tracking has 26 joints per hand
-                            num_open_xr_hand_joints=2 * 26,
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(0.7071, 0.0, 0.7071, 0.0),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.7071, 0.0, -0.7071),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
                         ),
-                        G1LowerBodyStandingRetargeterCfg(
+                        DexBiManualRetargeterCfg(
+                            target_joint_names=original_hand_joints,
+                            sim_device=self.sim.device,
+                            left_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_LEFT,
+                                enable_visualization=True,
+                                num_open_xr_hand_joints=26,
+                                sim_device=self.sim.device,
+                                hand_joint_names=left_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "configs/dex_retargeting/g1_hand_left_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_dexpilot_asset/G1_left_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
+                            ),
+                            right_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_RIGHT,
+                                enable_visualization=True,
+                                num_open_xr_hand_joints=26,
+                                sim_device=self.sim.device,
+                                hand_joint_names=right_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "configs/dex_retargeting/g1_hand_right_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_dexpilot_asset/G1_right_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
+                            ),
+                        ),
+                        LocomotionFixedRootCmdRetargeterCfg(
                             sim_device=self.sim.device,
                         ),
                     ],
@@ -238,12 +279,37 @@ def __post_init__(self):
                 ),
                 "motion_controllers": OpenXRDeviceCfg(
                     retargeters=[
-                        G1TriHandUpperBodyMotionControllerRetargeterCfg(
-                            enable_visualization=True,
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.CONTROLLER_LEFT,
+                            # Offset equivalent to (0, -75, 90) Euler (XYZ)
+                            target_offset_rot=(0.5358, -0.4619, 0.5358, 0.4619),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.CONTROLLER_RIGHT,
+                            # Offset equivalent to (0, -75, 90) Euler (XYZ) but mirrored for right hand?
+                            target_offset_rot=(0.5358, -0.4619, 0.5358, 0.4619),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        DexMotionControllerCfg(
+                            target=DeviceBase.TrackingTarget.CONTROLLER_LEFT,
+                            hand_joint_names=left_hand_joints,
+                            sim_device=self.sim.device,
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_dexpilot_asset/G1_left_hand.urdf",
+                        ),
+                        DexMotionControllerCfg(
+                            target=DeviceBase.TrackingTarget.CONTROLLER_RIGHT,
+                            hand_joint_names=right_hand_joints,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Controllers/LocomanipulationAssets/unitree_g1_dexpilot_asset/G1_right_hand.urdf",
                         ),
-                        G1LowerBodyStandingMotionControllerRetargeterCfg(
+                        LocomotionRootCmdRetargeterCfg(
                             sim_device=self.sim.device,
                         ),
                     ],
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/data/configs/dex-retargeting/fourier_hand_left_dexpilot.yml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/fourier_hand_left_dexpilot.yml
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/data/configs/dex-retargeting/fourier_hand_left_dexpilot.yml
rename to source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/fourier_hand_left_dexpilot.yml
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/data/configs/dex-retargeting/fourier_hand_right_dexpilot.yml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/fourier_hand_right_dexpilot.yml
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/data/configs/dex-retargeting/fourier_hand_right_dexpilot.yml
rename to source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/fourier_hand_right_dexpilot.yml
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/data/configs/dex-retargeting/unitree_hand_left_dexpilot.yml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/unitree_hand_left_dexpilot.yml
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/data/configs/dex-retargeting/unitree_hand_left_dexpilot.yml
rename to source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/unitree_hand_left_dexpilot.yml
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/data/configs/dex-retargeting/unitree_hand_right_dexpilot.yml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/unitree_hand_right_dexpilot.yml
similarity index 100%
rename from source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/data/configs/dex-retargeting/unitree_hand_right_dexpilot.yml
rename to source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/config/dex_retargeting/unitree_hand_right_dexpilot.yml
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
index 01feeab1cc2..96fa83332ca 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
@@ -3,16 +3,20 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import os
+
 import carb
 from pink.tasks import DampingTask, FrameTask
 
 import isaaclab.controllers.utils as ControllerUtils
 from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
 from isaaclab.devices import DevicesCfg
+from isaaclab.devices.device_base import DeviceBase
 from isaaclab.devices.openxr import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters import GR1T2RetargeterCfg
+from isaaclab.devices.retargeters import DexHandRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_tasks.manager_based.manipulation.pick_place.exhaustpipe_gr1t2_base_env_cfg import (
     ExhaustPipeGR1T2BaseEnvCfg,
@@ -134,16 +138,53 @@ def __post_init__(self):
         self.actions.gr1_action.controller.urdf_path = temp_urdf_output_path
         self.actions.gr1_action.controller.mesh_path = temp_urdf_meshes_output_path
 
+        # Re-order hand joint names to grouping by hand (Left then Right)
+        original_hand_joints = self.actions.gr1_action.hand_joint_names
+        left_hand_joints = [j for j in original_hand_joints if "L_" in j]
+        right_hand_joints = [j for j in original_hand_joints if "R_" in j]
+        self.actions.gr1_action.hand_joint_names = left_hand_joints + right_hand_joints
+
         self.teleop_devices = DevicesCfg(
             devices={
                 "handtracking": OpenXRDeviceCfg(
                     retargeters=[
-                        GR1T2RetargeterCfg(
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(1.0, 0.0, 0.0, 0.0),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.0, 0.0, 1.0),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        DexHandRetargeterCfg(
+                            target=DeviceBase.TrackingTarget.HAND_LEFT,
+                            enable_visualization=True,
+                            # number of joints in both hands
+                            num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
+                            sim_device=self.sim.device,
+                            hand_joint_names=left_hand_joints,
+                            hand_retargeting_config=os.path.join(
+                                os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_left_dexpilot.yml"
+                            ),
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_left_hand.urdf",
+                            handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                        ),
+                        DexHandRetargeterCfg(
+                            target=DeviceBase.TrackingTarget.HAND_RIGHT,
                             enable_visualization=True,
                             # number of joints in both hands
-                            num_open_xr_hand_joints=2 * self.NUM_OPENXR_HAND_JOINTS,
+                            num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.gr1_action.hand_joint_names,
+                            hand_joint_names=right_hand_joints,
+                            hand_retargeting_config=os.path.join(
+                                os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_right_dexpilot.yml"
+                            ),
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_right_hand.urdf",
+                            handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
                         ),
                     ],
                     sim_device=self.sim.device,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
index 6dcdd9a1e8f..fac7c23d10f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
@@ -3,16 +3,20 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import os
+
 import carb
 from pink.tasks import DampingTask, FrameTask
 
 import isaaclab.controllers.utils as ControllerUtils
 from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
 from isaaclab.devices import DevicesCfg
+from isaaclab.devices.device_base import DeviceBase
 from isaaclab.devices.openxr import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters import GR1T2RetargeterCfg
+from isaaclab.devices.retargeters import DexHandRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_tasks.manager_based.manipulation.pick_place.nutpour_gr1t2_base_env_cfg import NutPourGR1T2BaseEnvCfg
 
@@ -132,16 +136,53 @@ def __post_init__(self):
         self.actions.gr1_action.controller.urdf_path = temp_urdf_output_path
         self.actions.gr1_action.controller.mesh_path = temp_urdf_meshes_output_path
 
+        # Re-order hand joint names to grouping by hand (Left then Right)
+        original_hand_joints = self.actions.gr1_action.hand_joint_names
+        left_hand_joints = [j for j in original_hand_joints if "L_" in j]
+        right_hand_joints = [j for j in original_hand_joints if "R_" in j]
+        self.actions.gr1_action.hand_joint_names = left_hand_joints + right_hand_joints
+
         self.teleop_devices = DevicesCfg(
             devices={
                 "handtracking": OpenXRDeviceCfg(
                     retargeters=[
-                        GR1T2RetargeterCfg(
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(1.0, 0.0, 0.0, 0.0),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.0, 0.0, 1.0),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        DexHandRetargeterCfg(
+                            target=DeviceBase.TrackingTarget.HAND_LEFT,
+                            enable_visualization=True,
+                            # number of joints in both hands
+                            num_open_xr_hand_joints=2 * 26,
+                            sim_device=self.sim.device,
+                            hand_joint_names=left_hand_joints,
+                            hand_retargeting_config=os.path.join(
+                                os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_left_dexpilot.yml"
+                            ),
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_left_hand.urdf",
+                            handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                        ),
+                        DexHandRetargeterCfg(
+                            target=DeviceBase.TrackingTarget.HAND_RIGHT,
                             enable_visualization=True,
                             # number of joints in both hands
-                            num_open_xr_hand_joints=2 * self.NUM_OPENXR_HAND_JOINTS,
+                            num_open_xr_hand_joints=2 * 26,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.gr1_action.hand_joint_names,
+                            hand_joint_names=right_hand_joints,
+                            hand_retargeting_config=os.path.join(
+                                os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_right_dexpilot.yml"
+                            ),
+                            hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_right_hand.urdf",
+                            handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
                         ),
                     ],
                     sim_device=self.sim.device,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
index 4b073b35a3f..0b055b03205 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py
@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import os
 import tempfile
 import torch
 
@@ -14,9 +15,9 @@
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
-from isaaclab.devices.device_base import DevicesCfg
+from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.openxr import ManusViveCfg, OpenXRDeviceCfg, XrCfg
-from isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter import GR1T2RetargeterCfg
+from isaaclab.devices.retargeters import DexBiManualRetargeterCfg, DexHandRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
@@ -384,16 +385,60 @@ def __post_init__(self):
         self.actions.upper_body_ik.controller.urdf_path = temp_urdf_output_path
         self.actions.upper_body_ik.controller.mesh_path = temp_urdf_meshes_output_path
 
+        # Extract hand joint names for each hand
+        original_hand_joints = self.actions.upper_body_ik.hand_joint_names
+        left_hand_joints = [j for j in original_hand_joints if "L_" in j]
+        right_hand_joints = [j for j in original_hand_joints if "R_" in j]
+
         self.teleop_devices = DevicesCfg(
             devices={
                 "handtracking": OpenXRDeviceCfg(
                     retargeters=[
-                        GR1T2RetargeterCfg(
-                            enable_visualization=True,
-                            # number of joints in both hands
-                            num_open_xr_hand_joints=2 * self.NUM_OPENXR_HAND_JOINTS,
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(1.0, 0.0, 0.0, 0.0),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.0, 0.0, 1.0),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        DexBiManualRetargeterCfg(
+                            target_joint_names=original_hand_joints,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
+                            left_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_LEFT,
+                                enable_visualization=True,
+                                # number of joints in both hands
+                                num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
+                                sim_device=self.sim.device,
+                                hand_joint_names=left_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_left_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_left_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                            ),
+                            right_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_RIGHT,
+                                enable_visualization=True,
+                                # number of joints in both hands
+                                num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
+                                sim_device=self.sim.device,
+                                hand_joint_names=right_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_right_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_right_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                            ),
                         ),
                     ],
                     sim_device=self.sim.device,
@@ -401,15 +446,53 @@ def __post_init__(self):
                 ),
                 "manusvive": ManusViveCfg(
                     retargeters=[
-                        GR1T2RetargeterCfg(
-                            enable_visualization=True,
-                            num_open_xr_hand_joints=2 * 26,
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(1.0, 0.0, 0.0, 0.0),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.0, 0.0, 1.0),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        DexBiManualRetargeterCfg(
+                            target_joint_names=original_hand_joints,
+                            sim_device=self.sim.device,
+                            left_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_LEFT,
+                                enable_visualization=True,
+                                num_open_xr_hand_joints=26,
+                                sim_device=self.sim.device,
+                                hand_joint_names=left_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_left_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_left_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                            ),
+                            right_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_RIGHT,
+                                enable_visualization=True,
+                                num_open_xr_hand_joints=26,
+                                sim_device=self.sim.device,
+                                hand_joint_names=right_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_right_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_right_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                            ),
                         ),
                     ],
                     sim_device=self.sim.device,
                     xr_cfg=self.xr,
                 ),
-            }
+            },
         )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
index 30b17e89493..4aa2897c949 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
@@ -3,14 +3,16 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import os
 import tempfile
 
 import isaaclab.controllers.utils as ControllerUtils
-from isaaclab.devices.device_base import DevicesCfg
+from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.openxr import OpenXRDeviceCfg, XrCfg
-from isaaclab.devices.openxr.retargeters.humanoid.fourier.gr1t2_retargeter import GR1T2RetargeterCfg
+from isaaclab.devices.retargeters import DexBiManualRetargeterCfg, DexHandRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 from .pickplace_gr1t2_env_cfg import ActionsCfg, EventCfg, ObjectTableSceneCfg, ObservationsCfg, TerminationsCfg
 
@@ -68,16 +70,60 @@ def __post_init__(self):
         self.actions.upper_body_ik.controller.urdf_path = temp_urdf_output_path
         self.actions.upper_body_ik.controller.mesh_path = temp_urdf_meshes_output_path
 
+        # Extract hand joint names for each hand
+        original_hand_joints = self.actions.upper_body_ik.hand_joint_names
+        left_hand_joints = [j for j in original_hand_joints if "L_" in j]
+        right_hand_joints = [j for j in original_hand_joints if "R_" in j]
+
         self.teleop_devices = DevicesCfg(
             devices={
                 "handtracking": OpenXRDeviceCfg(
                     retargeters=[
-                        GR1T2RetargeterCfg(
-                            enable_visualization=True,
-                            # number of joints in both hands
-                            num_open_xr_hand_joints=2 * self.NUM_OPENXR_HAND_JOINTS,
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(1.0, 0.0, 0.0, 0.0),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.0, 0.0, 1.0),
+                            zero_out_xy_rotation=False,
+                            use_wrist_rotation=True,
+                            use_wrist_position=True,
+                            sim_device=self.sim.device,
+                        ),
+                        DexBiManualRetargeterCfg(
+                            target_joint_names=original_hand_joints,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.upper_body_ik.hand_joint_names,
+                            left_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_LEFT,
+                                enable_visualization=True,
+                                # number of joints in both hands
+                                num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
+                                sim_device=self.sim.device,
+                                hand_joint_names=left_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_left_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_left_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                            ),
+                            right_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_RIGHT,
+                                enable_visualization=True,
+                                # number of joints in both hands
+                                num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
+                                sim_device=self.sim.device,
+                                hand_joint_names=right_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/fourier_hand_right_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/GR1T2_assets/GR1_T2_right_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, -1, 0, -1, 0, 0, 0, 0, -1),
+                            ),
                         ),
                     ],
                     sim_device=self.sim.device,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
index a557911498a..9f7b13fd83a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
@@ -2,6 +2,7 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+import os
 import tempfile
 import torch
 
@@ -13,9 +14,9 @@
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.controllers.pink_ik import NullSpacePostureTask, PinkIKControllerCfg
-from isaaclab.devices.device_base import DevicesCfg
+from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.openxr import ManusViveCfg, OpenXRDeviceCfg, XrCfg
-from isaaclab.devices.openxr.retargeters.humanoid.unitree.inspire.g1_upper_body_retargeter import UnitreeG1RetargeterCfg
+from isaaclab.devices.retargeters import DexBiManualRetargeterCfg, DexHandRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
@@ -376,18 +377,60 @@ def __post_init__(self):
         self.actions.pink_ik_cfg.controller.urdf_path = temp_urdf_output_path
         self.actions.pink_ik_cfg.controller.mesh_path = temp_urdf_meshes_output_path
 
+        # Extract hand joint names for each hand
+        original_hand_joints = self.actions.pink_ik_cfg.hand_joint_names
+        left_hand_joints = [j for j in original_hand_joints if "L_" in j]
+        right_hand_joints = [j for j in original_hand_joints if "R_" in j]
+
         self.teleop_devices = DevicesCfg(
             devices={
                 "handtracking": OpenXRDeviceCfg(
                     retargeters=[
-                        UnitreeG1RetargeterCfg(
-                            enable_visualization=True,
-                            # number of joints in both hands
-                            num_open_xr_hand_joints=2 * 26,
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(0.7071, 0.0, 0.7071, 0.0),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.7071, 0.0, -0.7071),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        DexBiManualRetargeterCfg(
+                            target_joint_names=original_hand_joints,
                             sim_device=self.sim.device,
-                            # Please confirm that self.actions.pink_ik_cfg.hand_joint_names is consistent with robot.joint_names[-24:]
-                            # The order of the joints does matter as it will be used for converting pink_ik actions to final control actions in IsaacLab.
-                            hand_joint_names=self.actions.pink_ik_cfg.hand_joint_names,
+                            left_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_LEFT,
+                                enable_visualization=True,
+                                # number of joints in both hands
+                                num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
+                                sim_device=self.sim.device,
+                                # Please confirm that self.actions.pink_ik_cfg.hand_joint_names is consistent with robot.joint_names[-24:]
+                                # The order of the joints does matter as it will be used for converting pink_ik actions to final control actions in IsaacLab.
+                                hand_joint_names=left_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/unitree_hand_left_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/G1_inspire_assets/retarget_inspire_white_left_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
+                            ),
+                            right_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_RIGHT,
+                                enable_visualization=True,
+                                # number of joints in both hands
+                                num_open_xr_hand_joints=self.NUM_OPENXR_HAND_JOINTS,
+                                sim_device=self.sim.device,
+                                # Please confirm that self.actions.pink_ik_cfg.hand_joint_names is consistent with robot.joint_names[-24:]
+                                # The order of the joints does matter as it will be used for converting pink_ik actions to final control actions in IsaacLab.
+                                hand_joint_names=right_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/unitree_hand_right_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/G1_inspire_assets/retarget_inspire_white_right_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
+                            ),
                         ),
                     ],
                     sim_device=self.sim.device,
@@ -395,11 +438,45 @@ def __post_init__(self):
                 ),
                 "manusvive": ManusViveCfg(
                     retargeters=[
-                        UnitreeG1RetargeterCfg(
-                            enable_visualization=True,
-                            num_open_xr_hand_joints=2 * 26,
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_LEFT,
+                            target_offset_rot=(0.7071, 0.0, 0.7071, 0.0),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        Se3AbsRetargeterCfg(
+                            bound_hand=DeviceBase.TrackingTarget.HAND_RIGHT,
+                            target_offset_rot=(0.0, 0.7071, 0.0, -0.7071),
+                            zero_out_xy_rotation=False,
+                            sim_device=self.sim.device,
+                        ),
+                        DexBiManualRetargeterCfg(
+                            target_joint_names=original_hand_joints,
                             sim_device=self.sim.device,
-                            hand_joint_names=self.actions.pink_ik_cfg.hand_joint_names,
+                            left_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_LEFT,
+                                enable_visualization=True,
+                                num_open_xr_hand_joints=26,
+                                sim_device=self.sim.device,
+                                hand_joint_names=left_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/unitree_hand_left_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/G1_inspire_assets/retarget_inspire_white_left_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
+                            ),
+                            right_hand_cfg=DexHandRetargeterCfg(
+                                target=DeviceBase.TrackingTarget.HAND_RIGHT,
+                                enable_visualization=True,
+                                num_open_xr_hand_joints=26,
+                                sim_device=self.sim.device,
+                                hand_joint_names=right_hand_joints,
+                                hand_retargeting_config=os.path.join(
+                                    os.path.dirname(__file__), "config/dex_retargeting/unitree_hand_right_dexpilot.yml"
+                                ),
+                                hand_urdf=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/G1_inspire_assets/retarget_inspire_white_right_hand.urdf",
+                                handtracking_to_baselink_frame_transform=(0, 0, 1, 1, 0, 0, 0, 1, 0),
+                            ),
                         ),
                     ],
                     sim_device=self.sim.device,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py
index add822599ad..c248ee6898b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_abs_env_cfg.py
@@ -6,8 +6,8 @@
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.openxr.openxr_device import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg
-from isaaclab.devices.openxr.retargeters.manipulator.se3_abs_retargeter import Se3AbsRetargeterCfg
+from isaaclab.devices.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg
+from isaaclab.devices.retargeters.manipulator.se3_abs_retargeter import Se3AbsRetargeterCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.utils import configclass
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py
index a543d7fe124..ae08a4372c5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py
@@ -7,8 +7,8 @@
 from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.keyboard import Se3KeyboardCfg
 from isaaclab.devices.openxr.openxr_device import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg
-from isaaclab.devices.openxr.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeterCfg
+from isaaclab.devices.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg
+from isaaclab.devices.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeterCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.utils import configclass
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
index 10da599d3d9..5a4dbece564 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
@@ -7,8 +7,8 @@
 from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.keyboard import Se3KeyboardCfg
 from isaaclab.devices.openxr.openxr_device import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg
-from isaaclab.devices.openxr.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeterCfg
+from isaaclab.devices.retargeters.manipulator.gripper_retargeter import GripperRetargeterCfg
+from isaaclab.devices.retargeters.manipulator.se3_rel_retargeter import Se3RelRetargeterCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py
index ff8df74a196..c5f5b02daeb 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_joint_pos_env_cfg.py
@@ -8,7 +8,7 @@
 from isaaclab.devices import DevicesCfg
 from isaaclab.devices.device_base import DeviceBase
 from isaaclab.devices.openxr.openxr_device import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters import GripperRetargeterCfg, Se3AbsRetargeterCfg
+from isaaclab.devices.retargeters import GripperRetargeterCfg, Se3AbsRetargeterCfg
 from isaaclab.envs.mdp.actions.actions_cfg import SurfaceGripperBinaryActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py
index a1c61cb87fb..febdbc45255 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.devices.device_base import DeviceBase, DevicesCfg
 from isaaclab.devices.keyboard import Se3KeyboardCfg
 from isaaclab.devices.openxr.openxr_device import OpenXRDeviceCfg
-from isaaclab.devices.openxr.retargeters import GripperRetargeterCfg, Se3RelRetargeterCfg
+from isaaclab.devices.retargeters import GripperRetargeterCfg, Se3RelRetargeterCfg
 from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
 from isaaclab.envs.mdp.actions.rmpflow_actions_cfg import RMPFlowActionCfg
 from isaaclab.sensors import CameraCfg, FrameTransformerCfg