Merge main into develop

[alexmillane]

Summary

Merge main into develop

[isaaclab-review-bot]

🤖 Isaac Lab Review Bot

Summary

Merge PR syncing main → develop. The changes span five areas: (1) isaacteleop version bump to ~=1.1.0, (2) documentation restructuring of teleop workflows to numbered-step format with an important cloudxr.env ordering note, (3) XR anchor refactor from world-space offset composition to pelvis-relative prim anchoring on GR1T2 (aligning it with G1's existing pattern), (4) a metrics_to_plain_python_types() utility to fix JSON serialization of numpy types, and (5) widespread adoption of TYPE_CHECKING for deferred imports across all environment files.

The changes are well-structured and internally consistent. The deleted common.py has no remaining references, and the base class get_xr_cfg() correctly returns self.xr which is now set directly. Two minor suggestions below.

Design Assessment

Design is sound. The XR anchor refactor is a good simplification — pelvis-relative anchoring removes the need for world-space pose composition and makes the behavior consistent between GR1T2 and G1. The TYPE_CHECKING pattern cleanly resolves the long-standing annotation issue noted in multiple TODO comments.

Findings

(Detailed findings posted as inline comments on the relevant lines.)

🔵 Suggestion: metrics_to_plain_python_types() return type annotation is narrower than actual — see inline comment.

🔵 Suggestion: metrics_to_plain_python_types() doesn't handle nested dicts — noted inline as a minor enhancement.

Test Coverage

• XR refactor: Tests properly updated — the old world-space composition tests are replaced by unified pelvis-relative assertions covering both gr1_pink and g1_wbc_pink. The test correctly verifies that set_initial_pose() does not alter the anchor config (the key behavioral change).
• Metrics utility: No dedicated unit test for metrics_to_plain_python_types(), but the function is straightforward and exercised via append_job_metrics() in integration tests.
• Eval runner: Test simplification from stdout parsing to exit-code checking is an improvement in robustness. The @pytest.mark.skip additions for camera cold-start are pragmatic CI fixes.

CI Status

Pre-commit check is in progress.

Verdict

Ship it — Clean merge with no blocking issues. The two inline suggestions are optional improvements.

[greptile-apps]

Greptile Summary

This PR merges main into develop, bringing in new environments (GR1PutAndCloseDoor, GalileoG1LocomanipPickAndPlace), a new MetricsLogger, XR anchor pose tests, GR00T closed-loop policy tests, and various doc/Docker updates.

• Clarification on previous P1: \"put_item_in_fridge_and_close_door\" is a valid registered environment name (gr1_put_and_close_door_environment.py, line 35) — the prior comment flagging it as unregistered was incorrect.
• Unresolved P1: The quaternion noise addition in gr1t2.py lines 511–512 still lacks renormalization after the perturbation, breaking the unit-norm constraint and potentially corrupting downstream matrix_from_quat results.

Confidence Score: 4/5

Safe to merge pending resolution of the quaternion denormalization P1 in gr1t2.py.

One P1 from a prior review (additive quaternion noise without renormalization in gr1t2.py) remains unaddressed; all other prior concerns are P2 or confirmed false-positive. No new critical issues were found in this merge.

isaaclab_arena/embodiments/gr1t2/gr1t2.py (quaternion noise renormalization)

Important Files Changed

Filename	Overview
isaaclab_arena/embodiments/gr1t2/gr1t2.py	Quaternion noise applied additively without renormalization (lines 511-512), breaking unit-norm constraint on rotation quaternions — P1 from previous review still unresolved.
isaaclab_arena/evaluation/policy_runner.py	Rollout logic and distributed-mode handling look correct; minor: RuntimeError re-raise at line 118 drops original traceback (raise without from e).
isaaclab_arena/metrics/metrics_logger.py	New MetricsLogger class; numpy-to-Python type conversion and JSON serialization look correct.
isaaclab_arena/tests/test_eval_runner.py	"put_item_in_fridge_and_close_door" environment is confirmed registered in gr1_put_and_close_door_environment.py — previously raised P1 was a false positive.
isaaclab_arena_gr00t/tests/test_gr00t_closedloop_policy.py	Redundant inner import sys at line 104 inside _run_gr00t_closedloop_policy (already imported at module scope on line 7); otherwise test logic looks correct.
docker/Dockerfile.isaaclab_arena	Build structure looks correct; INSTALL_GROOT guard correctly gates CUDA 12.8 and GR00T dependency installs.
isaaclab_arena_environments/gr1_put_and_close_door_environment.py	New GR1 put-and-close-door environment; registers under name "put_item_in_fridge_and_close_door", consistent with its use in test_eval_runner.py.
isaaclab_arena_environments/galileo_g1_locomanip_pick_and_place_environment.py	Locomanipulation pick-and-place environment for G1 robot; structure follows the project pattern correctly.
isaaclab_arena/tests/test_xr_anchor_pose.py	New XR anchor pose tests for GR1T2 and G1 WBC embodiments; tests are well-structured and numerically precise.

Sequence Diagram

sequenceDiagram
    participant CLI
    participant PolicyRunner
    participant ArenaEnvBuilder
    participant Env
    participant Policy
    participant MetricsLogger

    CLI->>PolicyRunner: main()
    PolicyRunner->>ArenaEnvBuilder: get_arena_builder_from_cli(args_cli)
    ArenaEnvBuilder->>Env: make_registered_and_return_cfg()
    PolicyRunner->>Policy: policy_cls.from_args(args_cli)
    PolicyRunner->>PolicyRunner: rollout_policy(env, policy, num_steps, num_episodes)
    loop Each step/episode
        PolicyRunner->>Policy: get_action(env, obs)
        Policy-->>PolicyRunner: actions
        PolicyRunner->>Env: env.step(actions)
        Env-->>PolicyRunner: obs, terminated, truncated
        alt terminated or truncated
            PolicyRunner->>Policy: reset(env_ids)
        end
    end
    PolicyRunner->>Env: compute_metrics(env.unwrapped)
    Env-->>PolicyRunner: metrics
    PolicyRunner->>MetricsLogger: metrics_to_plain_python_types(metrics)
    PolicyRunner->>CLI: print metrics

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_{Reviews (3): Last reviewed commit: "Fix docs." | Re-trigger Greptile}