mimicgen generated data#135
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…lit. Co-authored-by: Cursor <cursoragent@cursor.com>
wilsonchenghy
approved these changes
Jul 18, 2026
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Adds a data-generation pipeline on top of the existing pick-place task: cuRobo plans a handful of seed demos, we annotate where the grasp completes, and Isaac Lab Mimic scales them into a larger imitation-learning dataset.
Files changed
New — the pipeline
pick_place_bimanual_mimic_env.py — the Mimic env (Isaac-PickPlace-BimanualLeft-Mimic-v0): scene, grasp→place subtask definitions, and Mimic datagen config. Registered under a separate id; doesn't touch the base env.
pick_place_gen/record_mimic_source_demos.py — records the cuRobo-planned seed demos into the HDF5 format Mimic consumes.
pick_place_gen/run_isaaclab_mimic_script.py — thin wrapper so Isaac Lab's stock annotate_demos.py generate_dataset.py can find this custom task.
pick_place_gen/MIMIC_DATASET.md — dataset schema, how to train on it, and how to regenerate.
New MDP terms (used only by the Mimic env)
mdp/terminations.py — object_placed_success, the place-success check. New file; not referenced by the base task.
mdp/observations.py — adds object_grasped (grasp-complete signal for the annotation step). New function appended; existing observations unchanged.
Wiring (additive)
config/HumanoidRLEnv/init.py — registers the new …-Mimic-v0 id. Base id and its registration untouched.
pick_place_env_cfg.py — adds place_target: RigidObjectCfg = None to the scene cfg. Defaults to None, so the base task ignores it; only the Mimic cfg populates it.
mdp/init.py — exports the new terminations module.
robot_cfg_shim.py — imports compute_tip_ik_jacobian from the shared arm config.