Adds all params for Reach policy ROS inference (isaac-sim#4209)

# Description

Add missing params for reach policy inference

## Type of change

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

## 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] My changes generate no new warnings
- [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: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: 2 people

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.11.9"
+version = "0.11.10"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.11.10 (2025-12-13)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added obs_groups to the RSL-RL PPO agent configuration for the ``Isaac-Reach-UR10e-v0`` environment.
+* Changed self.state_space to 19 in the ``Isaac-Reach-UR10e-ROS-Inference-v0`` environment.
+
+
 0.11.9 (2025-11-10)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py

@@ -15,6 +15,7 @@ class URReachPPORunnerCfg(RslRlOnPolicyRunnerCfg):
     save_interval = 50
     experiment_name = "reach_ur10e"
     empirical_normalization = True
+    obs_groups = {"policy": ["policy"], "critic": ["policy"]}
     policy = RslRlPpoActorCriticCfg(
         init_noise_std=1.0,
         actor_hidden_dims=[256, 128, 64],

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/ros_inference_env_cfg.py

@@ -30,7 +30,7 @@ def __post_init__(self):
         ]
         self.policy_action_space = "joint"
         self.action_space = 6
-        self.state_space = 0
+        self.state_space = 19
         self.observation_space = 19
 
         # Set joint_action_scale from the existing arm_action.scale