Adds Haply device API with force feedback and teleoperation demo (#3873)

# Description
Add Haply haptic device teleoperation support for robotic manipulation
with force feedback.

## Type of change

- New feature (non-breaking change which adds functionality)

1.  Add haply devices API for teleoperation with force feedback
2. Real-time teleoperation with force feedback demo via Haply Inverse3
handle

[Haply device documentation](https://docs.haply.co/docs/quick-start) and
[usage](https://docs.haply.co/inverseSDK/)

**Usage (make sure your Haply device is connected):**
```bash
./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
```

## Screenshots

![haply-frankal](https://github.com/user-attachments/assets/f2c0572e-83d6-4c10-b95d-6ea083b90f62)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: mingxueg-nv <mingxueg@nvidia.com>
Signed-off-by: mingxueg <mingxueg@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: 3 people

CONTRIBUTORS.md

@@ -100,6 +100,7 @@ Guidelines for modifications:
 * Michael Noseworthy
 * Michael Lin
 * Miguel Alonso Jr
+* Mingxue Gu
 * Mingyu Lee
 * Muhong Guo
 * Narendra Dahile

docs/source/_static/demos/haply_teleop_franka.jpg

@@ -15,6 +15,7 @@
     Se3Keyboard
     Se2SpaceMouse
     Se3SpaceMouse
+    HaplyDevice
     OpenXRDevice
     ManusVive
     isaaclab.devices.openxr.retargeters.GripperRetargeter
@@ -79,6 +80,14 @@ Space Mouse
     :inherited-members:
     :show-inheritance:
 
+Haply
+-----
+
+.. autoclass:: HaplyDevice
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
 OpenXR
 ------
 

docs/source/api/lab/isaaclab.devices.rst

@@ -0,0 +1,240 @@
+.. _haply-teleoperation:
+
+Setting up Haply Teleoperation
+===============================
+
+.. currentmodule:: isaaclab
+
+`Haply Devices`_ provides haptic devices that enable intuitive robot teleoperation with
+directional force feedback. The Haply Inverse3 paired with the VerseGrip creates an
+end-effector control system with force feedback capabilities.
+
+Isaac Lab supports Haply devices for teleoperation workflows that require precise spatial
+control with haptic feedback. This enables operators to feel contact forces during manipulation
+tasks, improving control quality and task performance.
+
+This guide explains how to set up and use Haply devices with Isaac Lab for robot teleoperation.
+
+.. _Haply Devices: https://haply.co/
+
+
+Overview
+--------
+
+Using Haply with Isaac Lab involves the following components:
+
+* **Isaac Lab** simulates the robot environment and streams contact forces back to the operator
+
+* **Haply Inverse3** provides 3-DOF position tracking and force feedback in the operator's workspace
+
+* **Haply VerseGrip** adds orientation sensing and button inputs for gripper control
+
+* **Haply SDK** manages WebSocket communication between Isaac Lab and the Haply hardware
+
+This guide will walk you through:
+
+* :ref:`haply-system-requirements`
+* :ref:`haply-installation`
+* :ref:`haply-device-setup`
+* :ref:`haply-running-demo`
+* :ref:`haply-troubleshooting`
+
+
+.. _haply-system-requirements:
+
+System Requirements
+-------------------
+
+Hardware Requirements
+~~~~~~~~~~~~~~~~~~~~~
+
+* **Isaac Lab Workstation**
+
+  * Ubuntu 22.04 or Ubuntu 24.04
+  * Hardware requirements for 200Hz physics simulation:
+
+    * CPU: 8-Core Intel Core i7 or AMD Ryzen 7 (or higher)
+    * Memory: 32GB RAM (64GB recommended)
+    * GPU: RTX 3090 or higher
+
+  * Network: Same local network as Haply devices for WebSocket communication
+
+* **Haply Devices**
+
+  * Haply Inverse3 - Haptic device for position tracking and force feedback
+  * Haply VerseGrip - Wireless controller for orientation and button inputs
+  * Both devices must be powered on and connected to the Haply SDK
+
+Software Requirements
+~~~~~~~~~~~~~~~~~~~~~
+
+* Isaac Lab (follow the :ref:`installation guide <isaaclab-installation-root>`)
+* Haply SDK (provided by Haply Robotics)
+* Python 3.10+
+* ``websockets`` Python package (automatically installed with Isaac Lab)
+
+
+.. _haply-installation:
+
+Installation
+------------
+
+1. Install Isaac Lab
+~~~~~~~~~~~~~~~~~~~~
+
+Follow the Isaac Lab :ref:`installation guide <isaaclab-installation-root>` to set up your environment.
+
+The ``websockets`` dependency is automatically included in Isaac Lab's requirements.
+
+2. Install Haply SDK
+~~~~~~~~~~~~~~~~~~~~
+
+Download the Haply SDK from the `Haply Devices`_ website.
+Install the SDK software and configure the devices.
+
+3. Verify Installation
+~~~~~~~~~~~~~~~~~~~~~~
+
+Test that your Haply devices are detected by the Haply Device Manager.
+You should see both Inverse3 and VerseGrip as connected.
+
+
+.. _haply-device-setup:
+
+Device Setup
+------------
+
+1. Physical Setup
+~~~~~~~~~~~~~~~~~
+
+* Place the Haply Inverse3 on a stable surface
+* Ensure the VerseGrip is charged and paired
+* Position yourself comfortably to reach the Inverse3 workspace
+* Keep the workspace clear of obstacles
+
+2. Start Haply SDK
+~~~~~~~~~~~~~~~~~~
+
+Launch the Haply SDK according to Haply's documentation. The SDK typically:
+
+* Runs a WebSocket server on ``localhost:10001``
+* Streams device data at 200Hz
+* Displays connection status for both devices
+
+3. Test Communication
+~~~~~~~~~~~~~~~~~~~~~
+
+You can test the WebSocket connection using the following Python script:
+
+.. code:: python
+
+   import asyncio
+   import websockets
+   import json
+
+   async def test_haply():
+       uri = "ws://localhost:10001"
+       async with websockets.connect(uri) as ws:
+           response = await ws.recv()
+           data = json.loads(response)
+           print("Inverse3:", data.get("inverse3", []))
+           print("VerseGrip:", data.get("wireless_verse_grip", []))
+
+   asyncio.run(test_haply())
+
+You should see device data streaming from both Inverse3 and VerseGrip.
+
+
+.. _haply-running-demo:
+
+Running the Demo
+----------------
+
+The Haply teleoperation demo showcases robot manipulation with force feedback using
+a Franka Panda arm.
+
+Basic Usage
+~~~~~~~~~~~
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         # Ensure Haply SDK is running
+         ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         REM Ensure Haply SDK is running
+         isaaclab.bat -p scripts\demos\haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
+
+The demo will:
+
+1. Connect to the Haply devices via WebSocket
+2. Spawn a Franka Panda robot and a cube in simulation
+3. Map Haply position to robot end-effector position
+4. Stream contact forces back to the Inverse3 for haptic feedback
+
+Controls
+~~~~~~~~
+
+* **Move Inverse3**: Controls the robot end-effector position
+* **VerseGrip Button A**: Open gripper
+* **VerseGrip Button B**: Close gripper
+* **VerseGrip Button C**: Rotate end-effector by 60°
+
+Advanced Options
+~~~~~~~~~~~~~~~~
+
+Customize the demo with command-line arguments:
+
+.. code:: bash
+
+   # Use custom WebSocket URI
+   ./isaaclab.sh -p scripts/demos/haply_teleoperation.py \
+       --websocket_uri ws://192.168.1.100:10001
+
+   # Adjust position sensitivity (default: 1.0)
+   ./isaaclab.sh -p scripts/demos/haply_teleoperation.py \
+        --websocket_uri ws://localhost:10001 \
+        --pos_sensitivity 2.0
+
+Demo Features
+~~~~~~~~~~~~~
+
+* **Workspace Mapping**: Haply workspace is mapped to robot reachable space with safety limits
+* **Inverse Kinematics**: Inverse Kinematics (IK) computes joint positions for desired end-effector pose
+* **Force Feedback**: Contact forces from end-effector sensors are sent to Inverse3 for haptic feedback
+
+
+.. _haply-troubleshooting:
+
+Troubleshooting
+---------------
+
+No Haptic Feedback
+~~~~~~~~~~~~~~~~~~
+
+**Problem**: No haptic feedback felt on Inverse3
+
+Solutions:
+
+* Verify Inverse3 is the active device in Haply SDK
+* Check contact forces are non-zero in simulation (try grasping the cube)
+* Ensure ``limit_force`` is not set too low (default: 2.0N)
+
+
+Next Steps
+----------
+
+* **Customize the demo**: Modify the workspace mapping or add custom button behaviors
+* **Implement your own controller**: Use :class:`~isaaclab.devices.HaplyDevice` in your own scripts
+
+For more information on device APIs, see :class:`~isaaclab.devices.HaplyDevice` in the API documentation.

docs/source/how-to/haply_teleoperation.rst

@@ -149,6 +149,18 @@ teleoperation in Isaac Lab.
     cloudxr_teleoperation
 
 
+Setting up Haply Teleoperation
+------------------------------
+
+This guide explains how to use Haply Inverse3 and VerseGrip devices for robot teleoperation
+with directional force feedback in Isaac Lab.
+
+.. toctree::
+    :maxdepth: 1
+
+    haply_teleoperation
+
+
 Understanding Simulation Performance
 ------------------------------------
 

docs/source/how-to/index.rst

@@ -228,6 +228,41 @@ A few quick showroom scripts to run and checkout:
 
 
 
+-  Teleoperate a Franka Panda robot using Haply haptic device with force feedback:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p scripts\demos\haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
+
+   .. image:: ../_static/demos/haply_teleop_franka.jpg
+      :width: 100%
+      :alt: Haply teleoperation with force feedback
+
+   This demo requires Haply Inverse3 and VerseGrip devices.
+   The goal of this demo is to pick up the cube or touch it with the end-effector.
+   The Haply devices provide:
+
+   * 3 dimensional position tracking for end-effector control
+   * Directional force feedback for contact sensing
+   * Button inputs for gripper and end-effector rotation control
+
+   See :ref:`haply-teleoperation` for detailed setup instructions.
+
+
+
 -  Create and spawn procedurally generated terrains with different configurations:
 
    .. tab-set::