Adds GR1 env import to required scripts (#321)

# Description

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Adds missing GR1 env import to scripts that may use the humanoid
environment.

Fixes case where running replay/train/play scripts gives
"Isaac-PickPlace-GR1T2-Abs-v0" not found error

## Type of change

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applicable. -->

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


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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [ ] 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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scripts/imitation_learning/robomimic/play.py

@@ -66,6 +66,9 @@ import torch
 import robomimic.utils.file_utils as FileUtils
 import robomimic.utils.torch_utils as TorchUtils
 
+if args_cli.enable_pinocchio:
+    import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
+
 from isaaclab_tasks.utils import parse_env_cfg
 
 

scripts/imitation_learning/robomimic/train.py

@@ -84,6 +84,7 @@ from robomimic.utils.log_utils import DataLogger, PrintLogger
 
 # Isaac Lab imports (needed so that environment is registered)
 import isaaclab_tasks  # noqa: F401
+import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 
 
 def normalize_hdf5_actions(config: Config, log_dir: str) -> str:

scripts/tools/replay_demos.py

@@ -65,6 +65,9 @@ import torch
 from isaaclab.devices import Se3Keyboard
 from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler
 
+if args_cli.enable_pinocchio:
+    import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
+
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg