Prevents pinocchio import mimic (#325)

1. Move gr1mimc envs to a seperate directory and init file in order
prevent import pinocchio dependency
2. Install pinocchio 3.4.0 using conda as a fix for
https://nvbugs/5173837.
3. Sets the usdtourdf converter logger level to error
4. Add cfg parameter to `PinkIKControllerCfg` to toggle if IK solver
solution not found warnings are shown.

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

docs/source/overview/teleop_imitation.rst

@@ -324,11 +324,24 @@ Optional: Collect and annotate demonstrations
    an Apple Vision Pro, you may skip this step and continue on to the next step: `Generate the dataset`_.
    A pre-recorded annotated dataset is provided in the next step .
 
+.. note::
+   The GR1 scene utilizes the wrist poses from the Apple Vision Pro (AVP) as setpoints for a differential IK controller (Pink-IK).
+   The differential IK controller requires the user's wrist pose to be close to the robot's initial or current pose for optimal performance.
+   Rapid movements of the user's wrist may cause it to deviate significantly from the goal state, which could prevent the IK controller from finding the optimal solution.
+   This may result in a mismatch between the user's wrist and the robot's wrist.
+   You can increase the gain of the all `Pink-IK controller's FrameTasks<https://github.com/isaac-sim/IsaacLab-Internal/blob/devel/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py>`__ to track the AVP wrist poses with lower latency.
+   However, this may lead to more jerky motion.
+   Separately, the finger joints of the robot are retargeted to the user's finger joints using the `dex-retargeting <https://github.com/dexsuite/dex-retargeting>`_ library.
+
 Set up the CloudXR Runtime and Apple Vision Pro for teleoperation by following the steps in :ref:`cloudxr-teleoperation`.
 CPU simulation is used in the following steps for better XR performance when running a single environment.
 
 Collect a set of human demonstrations using the command below.
 A success demo requires the object to be placed in the bin and for the robot's right arm to be retracted to the starting position.
+The Isaac Lab Mimic Env GR-1 humanoid robot is set up such that the left hand has a single subtask, while the right hand has two subtasks.
+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.
 
 .. code:: bash
@@ -345,7 +358,7 @@ We recommend 10 successful demonstrations for good data generation results.
    on the Apple Vision Pro or via voice control by saying "reset". See :ref:`teleoperate-apple-vision-pro` for more details.
 
 Unlike the prior Franka stacking task, the GR-1 pick and place task uses manual annotation to define subtasks.
-Each demo requires a single annotation which denotes when the right robot arm finishes the "idle" subtask and begins to
+Each demo requires a single annotation between the first and second subtask of the right arm. This annotation ("S" button press) should be done when the right robot arm finishes the "idle" subtask and begins to
 move towards the target object. Annotate the demonstrations by running the following command:
 
 .. code:: bash
@@ -372,6 +385,9 @@ move towards the target object. Annotate the demonstrations by running the follo
          Press "S" to annotate subtask signals.
          Press "Q" to skip the episode.
 
+.. note::
+
+   If the object does not get placed in the bin during annotation, you can press "N" to replay the episode and annotate again. Or you can press "Q" to skip the episode and annotate the next one.
 
 Generate the dataset
 ^^^^^^^^^^^^^^^^^^^^

environment.yml

@@ -4,3 +4,4 @@ channels:
 dependencies:
   - python=3.10
   - importlib_metadata
+  - pinocchio===3.4.0  # pip install of pinocchio==3.4.0(required by isaac sim extensions) does not work with numpy<2

scripts/imitation_learning/isaaclab_mimic/annotate_demos.py

@@ -57,6 +57,9 @@ import torch
 
 import isaaclab_mimic.envs  # noqa: F401
 
+if args_cli.enable_pinocchio:
+    import isaaclab_mimic.envs.pinocchio_envs  # noqa: F401
+
 # Only enables inputs if this script is NOT headless mode
 if not args_cli.headless and not os.environ.get("HEADLESS", 0):
     from isaaclab.devices import Se3Keyboard
@@ -68,9 +71,6 @@ from isaaclab.utils import configclass
 from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler
 
 import isaaclab_tasks  # noqa: F401
-
-if args_cli.enable_pinocchio:
-    import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
 is_paused = False

scripts/imitation_learning/isaaclab_mimic/generate_dataset.py

@@ -67,6 +67,9 @@ import omni
 from isaaclab.envs import ManagerBasedRLMimicEnv
 
 import isaaclab_mimic.envs  # noqa: F401
+
+if args_cli.enable_pinocchio:
+    import isaaclab_mimic.envs.pinocchio_envs  # noqa: F401
 from isaaclab_mimic.datagen.generation import env_loop, setup_async_generation, setup_env_config
 from isaaclab_mimic.datagen.utils import get_env_name_from_dataset, setup_output_paths
 

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.36.14"
+version = "0.36.15"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.36.14 (2025-04-09)
+0.36.15 (2025-04-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -12,7 +12,7 @@ Changed
   the cuda device, which results in NCCL errors on distributed setups.
 
 
-0.36.13 (2025-04-01)
+0.36.14 (2025-04-01)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -21,7 +21,7 @@ Fixed
 * Added check in RecorderManager to ensure that the success indicator is only set if the termination manager is present.
 
 
-0.36.12 (2025-03-24)
+0.36.13 (2025-03-24)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -31,6 +31,15 @@ Changed
   the default settings will be used from the experience files and the double definition is removed.
 
 
+0.36.12 (2025-03-19)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added parameter to show warning if Pink IK solver fails to find a solution.
+
+
 0.36.11 (2025-03-19)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/controllers/pink_ik.py

@@ -113,7 +113,10 @@ class PinkIKController:
         if Delta_q is None:
             # Print warning and return the current joint positions as the target
             # Not using omni.log since its not available in CI during docs build
-            print("Warning: IK quadratic solver could not find a solution! Did not update the target joint positions.")
+            if self.cfg.show_ik_warnings:
+                print(
+                    "Warning: IK quadratic solver could not find a solution! Did not update the target joint positions."
+                )
             return torch.tensor(curr_joint_pos, device=self.device, dtype=torch.float32)
 
         # Discard the first 6 values (for root and universal joints)

source/isaaclab/isaaclab/controllers/pink_ik_cfg.py

@@ -54,3 +54,6 @@ class PinkIKControllerCfg:
 
     base_link_name: str = "base_link"
     """The name of the base link in the USD asset."""
+
+    show_ik_warnings: bool = True
+    """Show warning if IK solver fails to find a solution."""

source/isaaclab/isaaclab/controllers/utils.py

@@ -14,6 +14,7 @@ from isaacsim.core.utils.extensions import enable_extension
 
 enable_extension("isaacsim.asset.exporter.urdf")
 
+import nvidia.srl.tools.logger as logger
 import omni.log
 from nvidia.srl.from_usd.to_urdf import UsdToUrdf
 
@@ -33,6 +34,7 @@ def convert_usd_to_urdf(usd_path: str, output_path: str, force_conversion: bool
         "edge_names_to_remove": None,
         "root": None,
         "parent_link_is_body_1": None,
+        "log_level": logger.level_from_name("ERROR"),
     }
 
     urdf_output_dir = os.path.join(output_path, "urdf")

source/isaaclab_mimic/config/extension.toml

 [package]
 
 # Semantic Versioning is used: https://semver.org/
-version = "1.0.6"
+version = "1.0.7"
 
 # Description
 category = "isaaclab"

source/isaaclab_mimic/docs/CHANGELOG.rst

 Changelog
 ---------
 
+1.0.7 (2025-03-19)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Moved the GR1T2 robot task to a separate directory to prevent import of pinocchio when not needed. This allows use of IsaacLab Mimic in windows.
+
+
 1.0.6 (2025-03-10)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_mimic/isaaclab_mimic/envs/__init__.py

@@ -13,8 +13,6 @@ from .franka_stack_ik_rel_blueprint_mimic_env_cfg import FrankaCubeStackIKRelBlu
 from .franka_stack_ik_rel_mimic_env import FrankaCubeStackIKRelMimicEnv
 from .franka_stack_ik_rel_mimic_env_cfg import FrankaCubeStackIKRelMimicEnvCfg
 from .franka_stack_ik_rel_visuomotor_mimic_env_cfg import FrankaCubeStackIKRelVisuomotorMimicEnvCfg
-from .pickplace_gr1t2_mimic_env import PickPlaceGR1T2MimicEnv
-from .pickplace_gr1t2_mimic_env_cfg import PickPlaceGR1T2MimicEnvCfg
 
 ##
 # Inverse Kinematics - Relative Pose Control
@@ -55,12 +53,3 @@ gym.register(
     },
     disable_env_checker=True,
 )
-
-gym.register(
-    id="Isaac-PickPlace-GR1T2-Abs-Mimic-v0",
-    entry_point="isaaclab_mimic.envs:PickPlaceGR1T2MimicEnv",
-    kwargs={
-        "env_cfg_entry_point": pickplace_gr1t2_mimic_env_cfg.PickPlaceGR1T2MimicEnvCfg,
-    },
-    disable_env_checker=True,
-)

source/isaaclab_mimic/isaaclab_mimic/envs/pinocchio_envs/__init__.py

+# Copyright (c) 2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Sub-package with environment wrappers for Isaac Lab Mimic."""
+
+import gymnasium as gym
+
+from .pickplace_gr1t2_mimic_env import PickPlaceGR1T2MimicEnv
+from .pickplace_gr1t2_mimic_env_cfg import PickPlaceGR1T2MimicEnvCfg
+
+gym.register(
+    id="Isaac-PickPlace-GR1T2-Abs-Mimic-v0",
+    entry_point="isaaclab_mimic.envs.pinocchio_envs:PickPlaceGR1T2MimicEnv",
+    kwargs={
+        "env_cfg_entry_point": pickplace_gr1t2_mimic_env_cfg.PickPlaceGR1T2MimicEnvCfg,
+    },
+    disable_env_checker=True,
+)

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

@@ -216,6 +216,7 @@ class ActionsCfg:
             articulation_name="robot",
             base_link_name="base_link",
             num_hand_joints=22,
+            show_ik_warnings=False,
             variable_input_tasks=[
                 FrameTask(
                     "GR1T2_fourier_hand_6dof_left_hand_roll_link",