Fixes the reach task regression with teleop devices returning the gripper (isaac-sim#3327)

Fixes the reach task regression with teleop devices returning the
gripper term

# Description
Fixes the reach task regression with teleop devices returning the
gripper. The reach task expects just the se3 term and not the gripper
term. We add a configuration parameter to the teleop devices which do
not use retargeters to conditional return the gripper term, and update
the reach env cfg to properly configure the teleop devices.
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Fixes isaac-sim#3264 

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## Type of change

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
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---------

Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: rwiltz

.github/workflows/license-exceptions.json

@@ -395,5 +395,10 @@
     "package": "zipp",
     "license" : "UNKNOWN",
     "comment": "MIT"
+  },
+  {
+    "package": "fsspec",
+    "license" : "UNKNOWN",
+    "comment": "BSD"
   }
 ]

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.45.9"
+version = "0.45.10"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,21 @@
 Changelog
 ---------
 
+0.45.10 (2025-09-02)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed regression in reach task configuration where the gripper command was being returned.
+* Added :attr:`~isaaclab.devices.Se3GamepadCfg.gripper_term` to :class:`~isaaclab.devices.Se3GamepadCfg`
+  to control whether the gamepad device should return a gripper command.
+* Added :attr:`~isaaclab.devices.Se3SpaceMouseCfg.gripper_term` to :class:`~isaaclab.devices.Se3SpaceMouseCfg`
+  to control whether the spacemouse device should return a gripper command.
+* Added :attr:`~isaaclab.devices.Se3KeyboardCfg.gripper_term` to :class:`~isaaclab.devices.Se3KeyboardCfg`
+  to control whether the keyboard device should return a gripper command.
+
+
 0.45.9 (2025-08-27)
 ~~~~~~~~~~~~~~~~~~~
 

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

@@ -22,6 +22,7 @@
 class Se3GamepadCfg(DeviceCfg):
     """Configuration for SE3 gamepad devices."""
 
+    gripper_term: bool = True
     dead_zone: float = 0.01  # For gamepad devices
     pos_sensitivity: float = 1.0
     rot_sensitivity: float = 1.6
@@ -75,6 +76,7 @@ def __init__(
         self.pos_sensitivity = cfg.pos_sensitivity
         self.rot_sensitivity = cfg.rot_sensitivity
         self.dead_zone = cfg.dead_zone
+        self.gripper_term = cfg.gripper_term
         self._sim_device = cfg.sim_device
         # acquire omniverse interfaces
         self._appwindow = omni.appwindow.get_default_app_window()
@@ -155,9 +157,11 @@ def advance(self) -> torch.Tensor:
         # -- convert to rotation vector
         rot_vec = Rotation.from_euler("XYZ", delta_rot).as_rotvec()
         # return the command and gripper state
-        gripper_value = -1.0 if self._close_gripper else 1.0
-        delta_pose = np.concatenate([delta_pos, rot_vec])
-        command = np.append(delta_pose, gripper_value)
+        command = np.concatenate([delta_pos, rot_vec])
+        if self.gripper_term:
+            gripper_value = -1.0 if self._close_gripper else 1.0
+            command = np.append(command, gripper_value)
+
         return torch.tensor(command, dtype=torch.float32, device=self._sim_device)
 
     """

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

@@ -22,6 +22,7 @@
 class Se3KeyboardCfg(DeviceCfg):
     """Configuration for SE3 keyboard devices."""
 
+    gripper_term: bool = True
     pos_sensitivity: float = 0.4
     rot_sensitivity: float = 0.8
     retargeters: None = None
@@ -67,6 +68,7 @@ def __init__(self, cfg: Se3KeyboardCfg):
         # store inputs
         self.pos_sensitivity = cfg.pos_sensitivity
         self.rot_sensitivity = cfg.rot_sensitivity
+        self.gripper_term = cfg.gripper_term
         self._sim_device = cfg.sim_device
         # acquire omniverse interfaces
         self._appwindow = omni.appwindow.get_default_app_window()
@@ -139,9 +141,11 @@ def advance(self) -> torch.Tensor:
         # convert to rotation vector
         rot_vec = Rotation.from_euler("XYZ", self._delta_rot).as_rotvec()
         # return the command and gripper state
-        gripper_value = -1.0 if self._close_gripper else 1.0
-        delta_pose = np.concatenate([self._delta_pos, rot_vec])
-        command = np.append(delta_pose, gripper_value)
+        command = np.concatenate([self._delta_pos, rot_vec])
+        if self.gripper_term:
+            gripper_value = -1.0 if self._close_gripper else 1.0
+            command = np.append(command, gripper_value)
+
         return torch.tensor(command, dtype=torch.float32, device=self._sim_device)
 
     """

source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py

@@ -22,6 +22,7 @@
 class Se3SpaceMouseCfg(DeviceCfg):
     """Configuration for SE3 space mouse devices."""
 
+    gripper_term: bool = True
     pos_sensitivity: float = 0.4
     rot_sensitivity: float = 0.8
     retargeters: None = None
@@ -58,6 +59,7 @@ def __init__(self, cfg: Se3SpaceMouseCfg):
         # store inputs
         self.pos_sensitivity = cfg.pos_sensitivity
         self.rot_sensitivity = cfg.rot_sensitivity
+        self.gripper_term = cfg.gripper_term
         self._sim_device = cfg.sim_device
         # acquire device interface
         self._device = hid.device()
@@ -122,9 +124,11 @@ def advance(self) -> torch.Tensor:
                 - gripper command: Last element as a binary value (+1.0 for open, -1.0 for close).
         """
         rot_vec = Rotation.from_euler("XYZ", self._delta_rot).as_rotvec()
-        delta_pose = np.concatenate([self._delta_pos, rot_vec])
-        gripper_value = -1.0 if self._close_gripper else 1.0
-        command = np.append(delta_pose, gripper_value)
+        command = np.concatenate([self._delta_pos, rot_vec])
+        if self.gripper_term:
+            gripper_value = -1.0 if self._close_gripper else 1.0
+            command = np.append(command, gripper_value)
+
         return torch.tensor(command, dtype=torch.float32, device=self._sim_device)
 
     """

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_env_cfg.py

@@ -7,6 +7,10 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg
+from isaaclab.devices import DevicesCfg
+from isaaclab.devices.gamepad import Se3GamepadCfg
+from isaaclab.devices.keyboard import Se3KeyboardCfg
+from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.managers import ActionTermCfg as ActionTerm
 from isaaclab.managers import CurriculumTermCfg as CurrTerm
@@ -206,3 +210,20 @@ def __post_init__(self):
         self.viewer.eye = (3.5, 3.5, 3.5)
         # simulation settings
         self.sim.dt = 1.0 / 60.0
+
+        self.teleop_devices = DevicesCfg(
+            devices={
+                "keyboard": Se3KeyboardCfg(
+                    gripper_term=False,
+                    sim_device=self.sim.device,
+                ),
+                "gamepad": Se3GamepadCfg(
+                    gripper_term=False,
+                    sim_device=self.sim.device,
+                ),
+                "spacemouse": Se3SpaceMouseCfg(
+                    gripper_term=False,
+                    sim_device=self.sim.device,
+                ),
+            },
+        )