Fixes mimic bugs and documentation enhancements (#326)

Bug fixes and enhancements to Mimic.
Changes include:

- Fix bug that causes infinite looping of unsuccessful demos in
annotation script.
- Add auto reset event to pick place GR1 env when rod is dropped off
table
- Update pick place GR1 env task success criteria to be more precise
- Update Mimic docs to use CPU for GR1 teleop for better XR performance
due to running single env

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- Documentation update
- Environment enhancement

- [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
- [ ] 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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docs/source/overview/teleop_imitation.rst

@@ -325,18 +325,25 @@ Optional: Collect and annotate demonstrations
    A pre-recorded annotated dataset is provided in the next step .
 
 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. We recommend 10 successful demonstrations for good data generation results.
+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.
+We recommend 10 successful demonstrations for good data generation results.
 
 .. code:: bash
 
    ./isaaclab.sh -p scripts/tools/record_demos.py \
-   --device cuda \
+   --device cpu \
    --task Isaac-PickPlace-GR1T2-Abs-v0 \
    --teleop_device dualhandtracking_abs \
    --dataset_file ./datasets/dataset_gr1.hdf5 \
    --num_demos 10 --enable_pinocchio
 
+.. note::
+   If a demo fails during data collection, the environment can be reset using the teleoperation controls panel in the XR teleop client
+   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
 move towards the target object. Annotate the demonstrations by running the following command:
@@ -344,7 +351,7 @@ move towards the target object. Annotate the demonstrations by running the follo
 .. code:: bash
 
    ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/annotate_demos.py \
-   --device cuda \
+   --device cpu \
    --task Isaac-PickPlace-GR1T2-Abs-Mimic-v0 \
    --input_file ./datasets/dataset_gr1.hdf5 \
    --output_file ./datasets/dataset_annotated_gr1.hdf5 --enable_pinocchio

scripts/imitation_learning/isaaclab_mimic/annotate_demos.py

@@ -416,6 +416,7 @@ def annotate_episode_in_manual_mode(
 
             if not task_success_result:
                 print("\tThe final task was not completed.")
+                return False
 
             if expected_subtask_signal_count != len(marked_subtask_action_indices):
                 print(

scripts/tools/record_demos.py

@@ -94,6 +94,7 @@ if args_cli.enable_pinocchio:
     import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 from isaaclab.devices.openxr.retargeters.manipulator import GripperRetargeter, Se3AbsRetargeter, Se3RelRetargeter
 from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
+from isaaclab.managers import DatasetExportMode
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
@@ -219,6 +220,7 @@ def main():
     env_cfg.recorders: ActionStateRecorderManagerCfg = ActionStateRecorderManagerCfg()
     env_cfg.recorders.dataset_export_dir_path = output_dir
     env_cfg.recorders.dataset_filename = output_file_name
+    env_cfg.recorders.dataset_export_mode = DatasetExportMode.EXPORT_SUCCEEDED_ONLY
 
     # create environment
     env = gym.make(args_cli.task, cfg=env_cfg).unwrapped

source/isaaclab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.29"
+version = "0.10.30"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.10.29 (2025-03-25)
+0.10.30 (2025-03-25)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -10,7 +10,7 @@ Fixed
 * Fixed environment test failure for ``Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0``.
 
 
-0.10.28 (2025-03-18)
+0.10.29 (2025-03-18)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -19,6 +19,16 @@ Added
 * Added Gymnasium spaces showcase tasks (``Isaac-Cartpole-Showcase-*-Direct-v0``, and ``Isaac-Cartpole-Camera-Showcase-*-Direct-v0``).
 
 
+0.10.28 (2025-03-19)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated the ``Isaac-PickPlace-GR1T2-Abs-v0`` environment with auto termination when the object falls off the table
+  and refined the success criteria to be more accurate.
+
+
 0.10.27 (2025-03-13)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/mdp/terminations.py

@@ -24,13 +24,13 @@ if TYPE_CHECKING:
 def task_done(
     env: ManagerBasedRLEnv,
     object_cfg: SceneEntityCfg = SceneEntityCfg("object"),
-    right_wrist_max_x: float = 0.23,
-    min_x: float = 0.40,
-    max_x: float = 1.1,
-    min_y: float = 0.3,
-    max_y: float = 0.6,
+    right_wrist_max_x: float = 0.26,
+    min_x: float = 0.30,
+    max_x: float = 0.95,
+    min_y: float = 0.25,
+    max_y: float = 0.66,
     min_height: float = 1.13,
-    min_vel: float = 0.08,
+    min_vel: float = 0.20,
 ) -> torch.Tensor:
     """Determine if the object placement task is complete.
 

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

@@ -286,6 +286,11 @@ class TerminationsCfg:
     """Termination terms for the MDP."""
 
     time_out = DoneTerm(func=mdp.time_out, time_out=True)
+
+    object_dropping = DoneTerm(
+        func=mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")}
+    )
+
     success = DoneTerm(func=mdp.task_done)