Fixes spacemouse add callback function (#423)

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The new record/teleop_se3 agent scripts unifies the callback list for
all devices. This change fixes an error that spacemouse throws when
trying to add the additional (unused) callbacks.

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- Bug fix (non-breaking change which fixes an issue)

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- [ ] I have added tests that prove my fix is effective or that my
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source/isaaclab/docs/CHANGELOG.rst

@@ -281,7 +281,7 @@ Changed
   :meth:`~isaaclab.utils.math.quat_apply` and :meth:`~isaaclab.utils.math.quat_apply_inverse` for speed.
 
 
-0.40.7 (2025-05-19)
+0.40.8 (2025-05-19)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -291,7 +291,7 @@ Fixed
   of assets and sensors.used from the experience files and the double definition is removed.
 
 
-0.40.6 (2025-01-30)
+0.40.7 (2025-01-30)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -301,7 +301,7 @@ Added
   in the simulation.
 
 
-0.40.5 (2025-05-16)
+0.40.6 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -316,7 +316,7 @@ Changed
   resampling call.
 
 
-0.40.4 (2025-05-16)
+0.40.5 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -325,7 +325,7 @@ Fixed
 * Fixed penetration issue for negative border height in :class:`~isaaclab.terrains.terrain_generator.TerrainGeneratorCfg`.
 
 
-0.40.3 (2025-05-16)
+0.40.4 (2025-05-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -340,7 +340,7 @@ Added
 * Added :meth:`~isaaclab.utils.math.rigid_body_twist_transform`
 
 
-0.40.2 (2025-05-15)
+0.40.3 (2025-05-15)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -354,13 +354,22 @@ Fixed
   unused USD camera parameters.
 
 
-0.40.1 (2025-05-14)
+0.40.2 (2025-05-14)
 ~~~~~~~~~~~~~~~~~~~
 
 * Added a new attribute :attr:`articulation_root_prim_path` to the :class:`~isaaclab.assets.ArticulationCfg` class
   to allow explicitly specifying the prim path of the articulation root.
 
 
+0.40.1 (2025-05-14)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed spacemouse device add callback function to work with record_demos/teleop_se3_agent scripts.
+
+
 0.40.0 (2025-05-03)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse.py

@@ -95,10 +95,13 @@ class Se2SpaceMouse(DeviceBase):
         self._base_command.fill(0.0)
 
     def add_callback(self, key: str, func: Callable):
-        # check keys supported by callback
-        if key not in ["L", "R"]:
-            raise ValueError(f"Only left (L) and right (R) buttons supported. Provided: {key}.")
-        # TODO: Improve this to allow multiple buttons on same key.
+        """Add additional functions to bind spacemouse.
+
+        Args:
+            key: The keyboard button to check against.
+            func: The function to call when key is pressed. The callback function should not
+                take any arguments.
+        """
         self._additional_callbacks[key] = func
 
     def advance(self) -> torch.Tensor:

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

@@ -104,10 +104,13 @@ class Se3SpaceMouse(DeviceBase):
         self._delta_rot = np.zeros(3)  # (roll, pitch, yaw)
 
     def add_callback(self, key: str, func: Callable):
-        # check keys supported by callback
-        if key not in ["L", "R"]:
-            raise ValueError(f"Only left (L) and right (R) buttons supported. Provided: {key}.")
-        # TODO: Improve this to allow multiple buttons on same key.
+        """Add additional functions to bind spacemouse.
+
+        Args:
+            key: The keyboard button to check against.
+            func: The function to call when key is pressed. The callback function should not
+                take any arguments.
+        """
         self._additional_callbacks[key] = func
 
     def advance(self) -> torch.Tensor:

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py

@@ -30,7 +30,7 @@ class EventCfg:
 
     init_franka_arm_pose = EventTerm(
         func=franka_stack_events.set_default_joint_pose,
-        mode="startup",
+        mode="reset",
         params={
             "default_pose": [0.0444, -0.1894, -0.1107, -2.5148, 0.0044, 2.3775, 0.6952, 0.0400, 0.0400],
         },