Changelog
---------

1.3.2 (2026-06-14)
~~~~~~~~~~~~~~~~~~

Removed
^^^^^^^

* Removed the ``nvidia-srl-usd-to-urdf`` dependency now that Pink IK conversion uses Isaac Sim's URDF exporter.


1.3.1 (2026-06-02)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Declared ``isaaclab_teleop`` as a required extension of
  ``isaaclab_mimic`` in ``install.py``. ``./isaaclab.sh -i mimic``
  now installs ``isaaclab_teleop`` alongside ``isaaclab_mimic``.


1.3.0 (2026-05-18)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Moved ``robomimic`` from an opt-in extra (``isaaclab_mimic[robomimic]``) to a
  required dependency of :mod:`isaaclab_mimic` on Linux (via a ``sys_platform``
  marker). ``robomimic`` is now installed automatically whenever
  ``isaaclab_mimic`` is installed on Linux; no extra selector is needed.


1.2.7 (2026-05-14)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed :mod:`isaaclab_mimic.datagen` imports in packaged installs and avoided
  importing task configuration modules until data generation config setup.


1.2.6 (2026-05-08)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added a temporary ``warp.torch`` compatibility shim at
  :mod:`isaaclab_mimic` import time so that cuRobo (NVlabs/curobo) keeps
  working with ``warp-lang>=1.13``, which dropped the ``warp.torch``
  submodule in favour of top-level ``warp.*`` (e.g.
  ``wp.torch.device_from_torch`` → ``wp.device_from_torch``). cuRobo's
  pinned commit and ``main`` still call ``wp.torch.*`` and raise
  ``AttributeError: module 'warp' has no attribute 'torch'`` at
  :meth:`MotionGenConfig.load_from_robot_config` time. The shim
  reconstructs ``warp.torch`` as a thin forwarding module and is a
  no-op once warp re-introduces the namespace or cuRobo migrates.
  Remove this shim once the cuRobo pin in ``docker/Dockerfile.curobo``
  is bumped to a commit that uses the top-level ``wp.*`` API directly.


1.2.5 (2026-04-14)
~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated mobility path utilities to import from ``isaacsim.replicator.experimental.mobility_gen``.


1.2.4 (2026-04-06)
~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Made performance enhancing changes to data generation pipeline (elimate large tensor usage, reduce asyncio overhead and blocking)
* Locked h5py dependency to last stable version 3.15.1 to prevent package import errors on Windows with version 3.16.0.

Added
^^^^^

* Added data generation test cases for all tasks (single and multi environment).


1.2.3 (2026-03-12)
~~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Add nvidia-srl-usd-to-urdf dependency to isaaclab_mimic extension.


1.2.2 (2026-03-10)
~~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Add h5py dependency to isaaclab_mimic extension.


1.2.1 (2026-02-25)
~~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed cuRobo planner quaternion handling and Warp API compatibility for Isaac Lab 3.0.
* Fixed Rerun visualization in cuRobo plan visualizer.
* Added ``--visualizer kit`` to SkillGen documentation for all non-headless commands.


1.2.0 (2026-02-23)
~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Update data generator to support Isaac Lab 3.0.
* Use unique quaternion for GR1 pick place env Mimic actions.
* Discard failed Mimic demos by default for Franka stacking task.


1.1.0 (2026-01-30)
~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Changed the quaternion ordering to match warp, PhysX, and Newton native XYZW quaternion ordering.


1.0.16 (2025-11-10)
~~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Add body end effector to Mimic data generation to enable loco-manipulation data generation when a navigation p-controller is provided.


1.0.15 (2025-09-25)

Fixed
^^^^^

* Fixed a bug in the instruction UI logic that caused incorrect switching between XR and non-XR display modes. The instruction display now properly detects and updates the UI based on the teleoperation device (e.g., handtracking/XR vs. keyboard).


1.0.14 (2025-09-08)
~~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added SkillGen integration for automated demonstration generation using cuRobo; enable via ``--use_skillgen`` in ``scripts/imitation_learning/isaaclab_mimic/generate_dataset.py``.
* Added cuRobo motion planner interface (:class:`CuroboPlanner`, :class:`CuroboPlannerCfg`)
* Added manual subtask start boundary annotation for SkillGen; enable via ``--annotate_subtask_start_signals`` in ``scripts/imitation_learning/isaaclab_mimic/annotate_demos.py``.
* Added Rerun integration for motion plan visualization and debugging; enable via ``visualize_plan = True`` in :class:`CuroboPlannerCfg`.


1.0.13 (2025-08-14)
~~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added :class:`PickPlaceGR1T2WaistEnabledEnvCfg` and :class:`PickPlaceGR1T2WaistEnabledMimicEnvCfg` for GR1T2 robot manipulation tasks with waist joint control enabled.

1.0.12 (2025-07-31)
~~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added ``from __future__ import annotations`` to utils.py to fix Sphinx
  doc warnings for IsaacLab Mimic docs.


1.0.11 (2025-07-17)
~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated test_selection_strategy.py and test_generate_dataset.py test cases to pytest format.
* Updated annotate_demos.py script to return the number of successful task completions as the exit code to support check in test_generate_dataset.py test case.


1.0.10 (2025-07-08)
~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated generate dataset script to cancel remaining async tasks before closing the simulation app.


1.0.9 (2025-05-20)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added ``Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos-Mimic-v0`` environment for Cosmos vision stacking.


1.0.8 (2025-05-01)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added :class:`NutPourGR1T2MimicEnv` and :class:`ExhaustPipeGR1T2MimicEnv` for the GR1T2 nut pouring and exhaust pipe tasks.
* Updated instruction display to support all XR handtracking devices.


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)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added :class:`FrankaCubeStackIKAbsMimicEnv` and support for the GR1T2 robot task (:class:`PickPlaceGR1T2MimicEnv`).


1.0.5 (2025-03-10)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Refactored dataset generation code into leaner modules to prepare for Jupyter notebook.

Added
^^^^^

* Added ``Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-Mimic-v0`` environment for blueprint vision stacking.


1.0.4 (2025-03-07)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated data generator to support environments with multiple end effectors.
* Updated data generator to support subtask constraints based on DexMimicGen.


1.0.3 (2025-03-06)
~~~~~~~~~~~~~~~~~~

Added
^^^^^^

* Added absolute pose mimic environment for Franka cube stacking task (:class:`FrankaCubeStackIKAbsMimicEnv`)


1.0.2 (2025-01-10)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed test_selection_strategy.py test case by starting omniverse app to import needed dependencies.


1.0.1 (2024-12-16)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Removed the custom :meth:`get_object_poses` function in the:class:`FrankaCubeStackIKRelMimicEnv`
  class to use the default implementation from the :class:`ManagerBasedRLMimicEnv` class.


1.0.0 (2024-12-06)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Add initial version of Isaac Lab Mimic
