Updates GR1 PickPlace env (#396)

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Update GR1 pick place env with the following:

- Increase sim dt to 120 Hz for better physics stability during teleop
- Fix z position of object initial position so that it is not
penetrating table
- Update documentation for pick place Mimic demo

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- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

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- [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
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docs/source/overview/teleop_imitation.rst

@@ -343,7 +343,7 @@ The Isaac Lab Mimic Env GR-1 humanoid robot is set up such that the left hand ha
 The first subtask involves the right hand remaining idle while the left hand picks up and moves the object to the position where the right hand will grasp it.
 This setup allows Isaac Lab Mimic to interpolate the right hand's trajectory accurately by using the object's pose, especially when poses are randomized during data generation.
 Therefore, avoid moving the right hand while the left hand picks up the object and brings it to a stable position.
-We recommend 10 successful demonstrations for good data generation results. An example of a successful demonstration is shown below:
+We recommend at least 5 successful demonstrations for good data generation results. An example of a successful demonstration is shown below:
 
 .. figure:: ../_static/tasks/manipulation/gr-1_pick_place.gif
    :width: 100%
@@ -446,7 +446,7 @@ Place the file under ``IsaacLab/datasets`` and run the following command to gene
 .. code:: bash
 
    ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
-   --device cuda --headless --num_envs 10 --generation_num_trials 1000 --enable_pinocchio \
+   --device cpu --headless --num_envs 20 --generation_num_trials 1000 --enable_pinocchio \
    --input_file ./datasets/dataset_annotated_gr1.hdf5 --output_file ./datasets/generated_dataset_gr1.hdf5
 
 Train a policy
@@ -476,10 +476,11 @@ Visualize the results of the trained policy by running the following command, us
 .. code:: bash
 
    ./isaaclab.sh -p scripts/imitation_learning/robomimic/play.py \
-   --device cuda \
+   --device cpu \
    --enable_pinocchio \
    --task Isaac-PickPlace-GR1T2-Abs-v0 \
    --num_rollouts 50 \
+   --horizon 250 \
    --norm_factor_min <NORM_FACTOR_MIN> \
    --norm_factor_max <NORM_FACTOR_MAX> \
    --checkpoint /PATH/TO/desired_model_checkpoint.pth

source/isaaclab_mimic/isaaclab_mimic/envs/pinocchio_envs/pickplace_gr1t2_mimic_env_cfg.py

@@ -55,7 +55,7 @@ class PickPlaceGR1T2MimicEnvCfg(PickPlaceGR1T2EnvCfg, MimicEnvCfg):
                 # Optional parameters for the selection strategy function
                 selection_strategy_kwargs={"nn_k": 3},
                 # Amount of action noise to apply during this subtask
-                action_noise=0.005,
+                action_noise=0.003,
                 # Number of interpolation steps to bridge to this subtask segment
                 num_interpolation_steps=0,
                 # Additional fixed steps for the robot to reach the necessary pose
@@ -77,7 +77,7 @@ class PickPlaceGR1T2MimicEnvCfg(PickPlaceGR1T2EnvCfg, MimicEnvCfg):
                 # Optional parameters for the selection strategy function
                 selection_strategy_kwargs={"nn_k": 3},
                 # Amount of action noise to apply during this subtask
-                action_noise=0.005,
+                action_noise=0.003,
                 # Number of interpolation steps to bridge to this subtask segment
                 num_interpolation_steps=3,
                 # Additional fixed steps for the robot to reach the necessary pose
@@ -102,7 +102,7 @@ class PickPlaceGR1T2MimicEnvCfg(PickPlaceGR1T2EnvCfg, MimicEnvCfg):
                 # Optional parameters for the selection strategy function
                 selection_strategy_kwargs={"nn_k": 3},
                 # Amount of action noise to apply during this subtask
-                action_noise=0.005,
+                action_noise=0.003,
                 # Number of interpolation steps to bridge to this subtask segment
                 num_interpolation_steps=0,
                 # Additional fixed steps for the robot to reach the necessary pose

source/isaaclab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.37"
+version = "0.10.38"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.10.37 (2025-06-26)
+0.10.38 (2025-06-26)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -10,7 +10,7 @@ Fixed
 * Relaxed upper range pin for protobuf python dependency for more permissive installation.
 
 
-0.10.36 (2025-05-22)
+0.10.37 (2025-05-22)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -19,7 +19,7 @@ Fixed
 * Fixed redundant body_names assignment in rough_env_cfg.py for H1 robot.
 
 
-0.10.35 (2025-06-16)
+0.10.36 (2025-06-16)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -28,7 +28,7 @@ Changed
 * Show available RL library configs on error message when an entry point key is not available for a given task.
 
 
-0.10.34 (2025-05-15)
+0.10.35 (2025-05-15)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -38,7 +38,7 @@ Added
   implements assembly tasks to insert pegs into their corresponding sockets.
 
 
-0.10.33 (2025-05-21)
+0.10.34 (2025-05-21)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -48,7 +48,17 @@ Added
   can be pushed to a visualization dashboard to track improvements or regressions.
 
 
-0.10.32 (2025-05-21)
+0.10.33 (2025-05-12)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Increase ``Isaac-PickPlace-GR1T2-Abs-v0`` sim dt to 120Hz for improved stability.
+* Fix object initial state in ``Isaac-PickPlace-GR1T2-Abs-v0`` to be above the table.
+
+
+0.10.32 (2025-05-01)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py

@@ -55,7 +55,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     # Object
     object = RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Object",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.35, 0.40, 1.0413], rot=[1, 0, 0, 0]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.35, 0.40, 1.1691], rot=[1, 0, 0, 0]),
         spawn=sim_utils.CylinderCfg(
             radius=0.018,
             height=0.35,
@@ -393,10 +393,10 @@ class PickPlaceGR1T2EnvCfg(ManagerBasedRLEnvCfg):
     def __post_init__(self):
         """Post initialization."""
         # general settings
-        self.decimation = 5
+        self.decimation = 6
         self.episode_length_s = 20.0
         # simulation settings
-        self.sim.dt = 1 / 60  # 100Hz
+        self.sim.dt = 1 / 120  # 120Hz
         self.sim.render_interval = 2
 
         # Convert USD to URDF and change revolute joints to fixed