[Question] Getting nonparallel gripper to work in teleoperation

[Jdowdy05]

Question

I am trying to gather some demonstrations for the manipulation stack environment task with a custom manipulator, I have the end-effector tracking working with a Vive Pro 2 and Manus Quantum gloves+Vive tracker. I do not have a parallel gripper, and my current issue is that after reformatting the code in the stack env task for a single DoF gripper I cannot open or close the gripper (with any keyboard or handtracking as teleop device). I wanted to see if anyone else has had any luck with using a different gripper besides the parallel, or if there is anything outside of the stack env task code that I must change in order for the retargeter to properly open/close the gripper joint?

• Isaac Lab Version: 2.3.1
• Isaac Sim Version: 5.1.0