Adds SkillGen framework to Isaac Lab with cuRobo support#3303

Merged

kellyguo11 merged 28 commits into

isaac-sim:mainfrom

njawale42:neel/skillgen

Sep 9, 2025

Commits on Sep 8, 2025

Porting SkillGen to the public repo
njawale42
committed
A minor rerun related code update
njawale42
committed
Updated cuRobo and isaac sim licenses. Fixed rerun path viz bugs. Minor changes in cuRobo. Added urdf extraction and on-the-fly config creation from nucleus.
njawale42
committed
Added data gen test for skillgen, and changes to planner and visualizer
njawale42
committed
Minor change in README regarding isaacsim license file
njawale42
committed
Addressing review comments: type hints, conditional simplification, removing redundancies
njawale42
committed
Added make pose helper, minor code refactor for cuRobo planner
njawale42
committed
Made rerun import optional depending on visualize_plan flag, added cuRobo installation in Dockerfile.base for CL runner to install cuRobo for tests
njawale42
committed
Simplified skillgen related offset and object pose changes by introducing a new config
njawale42
committed
Added lazy logging to avoid using debug branching in planner script, minor docstring changes
njawale42
committed
Added docstring for the logger class
njawale42
committed
Added a new dockerfile for curobo, reverted the base dockerfile to what it was
njawale42
committed
Added first version of the skillgen.rst doc, minor config change
njawale42
committed
Addressing Mayank's comments, Documentation changes
njawale42
committed
Small bug fix
njawale42
committed
Doc update, cuRobo tests teardown update
njawale42
committed
Changed curobo config to use configclass instead of dataclass
njawale42
committed
Documentation updates, minor code updates
njawale42
committed
Added task gifs to the docs
njawale42
committed
Resolve linter errors
njawale42
committed

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Adds SkillGen framework to Isaac Lab with cuRobo support#3303

Adds SkillGen framework to Isaac Lab with cuRobo support#3303
kellyguo11 merged 28 commits into
isaac-sim:mainfrom
njawale42:neel/skillgen

Commits on Sep 8, 2025

Porting SkillGen to the public repo

A minor rerun related code update

Updated cuRobo and isaac sim licenses. Fixed rerun path viz bugs. Minor changes in cuRobo. Added urdf extraction and on-the-fly config creation from nucleus.

Added data gen test for skillgen, and changes to planner and visualizer

Minor change in README regarding isaacsim license file

Addressing review comments: type hints, conditional simplification, removing redundancies

Added make pose helper, minor code refactor for cuRobo planner

Made rerun import optional depending on visualize_plan flag, added cuRobo installation in Dockerfile.base for CL runner to install cuRobo for tests

Simplified skillgen related offset and object pose changes by introducing a new config

Added lazy logging to avoid using debug branching in planner script, minor docstring changes

Added docstring for the logger class

Added a new dockerfile for curobo, reverted the base dockerfile to what it was

Added first version of the skillgen.rst doc, minor config change

Addressing Mayank's comments, Documentation changes

Small bug fix

Doc update, cuRobo tests teardown update

Changed curobo config to use configclass instead of dataclass

Documentation updates, minor code updates

Added task gifs to the docs

Resolve linter errors

Commits on Sep 9, 2025

Update source/isaaclab_mimic/isaaclab_mimic/datagen/datagen_info_pool.py

Merge branch 'main' into neel/skillgen

Added updates in changelogs for isaaclab_mimic and isaaclab_tasks. Resolved doc compilation errors

Merge branch 'main' into neel/skillgen

Update CHANGELOG.rst

Update extension.toml

Update source/isaaclab_mimic/docs/CHANGELOG.rst

Update init.py