Add Softmimicgen physx workflow

autodata_examples/envs/__init__.py

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+# Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Example simulation environments used by AutoData workflows."""
+
+import argparse
+from typing import Any
+
+
+def register_environment_for_run(
+    *,
+    env_name: str,
+    enable_cameras: bool,
+    num_envs: int,
+    device: str,
+    seed: int,
+    presets: str | None = None,
+) -> dict[str, dict[str, Any]]:
+    """Register the AutoData-owned environment selected for the current run.
+
+    Args:
+        env_name: Gym ID of the environment selected for this run.
+        enable_cameras: Whether Arena environments should include their camera sensors.
+        num_envs: Number of parallel environments in this run.
+        device: Simulation device for this run.
+        seed: Environment seed for this run.
+        presets: Optional Arena physics backend preset; None preserves the environment default.
+
+    Returns:
+        Gym constructor kwargs keyed by registered environment ID.
+    """
+
+    from .isaac_lab_arena import build_and_register_arena_environment, is_arena_environment
+
+    if not is_arena_environment(env_name):
+        return {}
+    return build_and_register_arena_environment(
+        enable_cameras=enable_cameras,
+        num_envs=num_envs,
+        device=device,
+        seed=seed,
+        presets=presets,
+    )
+
+
+def register_environments() -> list[str]:
+    """External callback used by unmodified Isaac Lab scripts.
+
+    Isaac Lab invokes this function without arguments after starting Isaac Sim. The
+    selected ``--task`` determines whether the callback needs to compile an AutoData
+    Arena environment or only import AutoData's regular Isaac Lab registrations.
+
+    Returns:
+        Command-line arguments not consumed by Arena environment registration.
+    """
+
+    from .isaac_lab_arena import is_arena_environment, register_environment_from_cli
+
+    parser = argparse.ArgumentParser(add_help=False)
+    parser.add_argument("--task", type=str)
+    args, _ = parser.parse_known_args()
+    env_name = args.task.split(":")[-1] if args.task is not None else None
+    if env_name is not None and not is_arena_environment(env_name):
+        return []
+    return register_environment_from_cli()

autodata_examples/envs/isaac_lab_arena/__init__.py

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+# Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+
+from .registration import build_and_register_arena_environment, is_arena_environment, register_environment_from_cli
+
+__all__ = ["build_and_register_arena_environment", "is_arena_environment", "register_environment_from_cli"]

autodata_examples/envs/isaac_lab_arena/franka_rope/__init__.py

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+# Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+
+from __future__ import annotations
+
+from . import embodiment as _embodiment  # noqa: F401
+from .environment import FRANKA_ROPE_ARENA_ENV_ID, FrankaRopeArenaEnvironment, FrankaRopeArenaEnvironmentCfg
+
+__all__ = [
+    "FRANKA_ROPE_ARENA_ENV_ID",
+    "FrankaRopeArenaEnvironment",
+    "FrankaRopeArenaEnvironmentCfg",
+]

autodata_examples/envs/isaac_lab_arena/franka_rope/embodiment.py

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+# Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+
+from __future__ import annotations
+
+from collections.abc import Callable
+
+import isaaclab.envs.mdp as mdp_isaac_lab
+import isaaclab.sim as sim_utils
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sensors import CameraCfg
+from isaaclab.utils.configclass import configclass
+from isaaclab_arena.assets.register import register_asset, register_retargeter
+from isaaclab_arena.assets.retargeter_library import RetargetterBase
+from isaaclab_arena.embodiments.common.arm_mode import ArmMode
+from isaaclab_arena.embodiments.franka.franka import FrankaIKEmbodiment
+from isaaclab_arena.utils.cameras import ArenaCameraCfg
+from isaaclab_arena.utils.pose import Pose
+from isaaclab_physx.renderers import IsaacRtxRendererCfg, IsaacRtxRendererGlobalSettingsCfg
+
+from . import mdp
+
+_FRANKA_ROPE_INIT_JOINT_POS: dict[str, float] = {
+    "panda_joint1": 0.0444,
+    "panda_joint2": -0.1894,
+    "panda_joint3": -0.1107,
+    "panda_joint4": -2.5148,
+    "panda_joint5": 0.0044,
+    "panda_joint6": 2.3775,
+    "panda_joint7": 2.43,
+    "panda_finger_joint.*": 0.04,
+}
+
+_FRANKA_ROPE_INIT_JOINT_POSE = [
+    0.0444,
+    -0.1894,
+    -0.1107,
+    -2.5148,
+    0.0044,
+    2.3775,
+    2.43,
+    0.04,
+    0.04,
+]
+
+
+@configclass
+class FrankaRopeCameraCfg(ArenaCameraCfg):
+    """Wrist and fixed-view cameras matching the Isaac Lab rope environment."""
+
+    robot0_eye_in_hand_image = CameraCfg(
+        prim_path="{ENV_REGEX_NS}/Robot/panda_hand/robot0_eye_in_hand_image",
+        update_period=0.0,
+        height=128,
+        width=128,
+        data_types=["rgb"],
+        renderer_cfg=IsaacRtxRendererCfg(global_settings=IsaacRtxRendererGlobalSettingsCfg(antialiasing_mode="DLSS")),
+        spawn=sim_utils.PinholeCameraCfg(
+            focal_length=24.0,
+            focus_distance=400.0,
+            horizontal_aperture=20.955,
+            clipping_range=(0.1, 2.0),
+        ),
+        offset=CameraCfg.OffsetCfg(
+            pos=(0.13, 0.0, -0.15),
+            rot=(0.03701, 0.03701, -0.70614, -0.70614),
+            convention="ros",
+        ),
+    )
+
+    agentview_image = CameraCfg(
+        prim_path="{ENV_REGEX_NS}/agentview_image",
+        update_period=0.0,
+        height=128,
+        width=128,
+        data_types=["rgb"],
+        renderer_cfg=IsaacRtxRendererCfg(global_settings=IsaacRtxRendererGlobalSettingsCfg(antialiasing_mode="DLSS")),
+        spawn=sim_utils.PinholeCameraCfg(
+            focal_length=14.0,
+            focus_distance=400.0,
+            horizontal_aperture=20.955,
+            clipping_range=(0.1, 2.0),
+        ),
+        offset=CameraCfg.OffsetCfg(
+            pos=(0.5, 0.5, 0.4),
+            rot=(0.0, 0.38268, 0.92388, 0.0),
+            convention="opengl",
+        ),
+    )
+
+
+@configclass
+class FrankaRopeObservationsCfg:
+    """Arena-standard Franka observations plus deformable rope nodal state."""
+
+    @configclass
+    class PolicyCfg(ObsGroup):
+        """Policy observations recorded into demonstration datasets."""
+
+        actions = ObsTerm(func=mdp_isaac_lab.last_action)
+        joint_pos = ObsTerm(func=mdp_isaac_lab.joint_pos_rel)
+        joint_vel = ObsTerm(func=mdp_isaac_lab.joint_vel_rel)
+        eef_pos = ObsTerm(func=mdp.ee_frame_pos)
+        eef_quat = ObsTerm(func=mdp.ee_frame_quat)
+        gripper_pos = ObsTerm(func=mdp.gripper_pos)
+        object_nodal_pos = ObsTerm(func=mdp.object_nodal_pos)
+
+        def __post_init__(self) -> None:
+            self.enable_corruption = False
+            self.concatenate_terms = False
+
+    policy: PolicyCfg = PolicyCfg()
+
+
+@configclass
+class FrankaRopeEventsCfg:
+    """Reset the Franka exactly as the equivalent Isaac Lab rope environment."""
+
+    reset_all = EventTerm(func=mdp_isaac_lab.reset_scene_to_default, mode="reset")
+    randomize_franka_joint_state = EventTerm(
+        func=mdp_isaac_lab.reset_joints_by_offset,
+        mode="reset",
+        params={
+            "position_range": (-0.02, 0.02),
+            "velocity_range": (0.0, 0.0),
+            "asset_cfg": SceneEntityCfg("robot", joint_names=["panda_joint.*"]),
+        },
+    )
+
+
+@register_asset
+class FrankaRopeIKEmbodiment(FrankaIKEmbodiment):
+    """Arena Franka IK embodiment with rope-specific pose, observations, and cameras."""
+
+    name = "franka_rope_ik"
+
+    def __init__(
+        self,
+        enable_cameras: bool = False,
+        initial_pose: Pose | None = None,
+        concatenate_observation_terms: bool = False,
+        arm_mode: ArmMode | None = None,
+    ) -> None:
+        super().__init__(
+            enable_cameras=enable_cameras,
+            initial_pose=initial_pose,
+            initial_joint_pose=list(_FRANKA_ROPE_INIT_JOINT_POSE),
+            concatenate_observation_terms=concatenate_observation_terms,
+            arm_mode=arm_mode,
+        )
+        self.scene_config.robot.init_state.joint_pos = dict(_FRANKA_ROPE_INIT_JOINT_POS)
+        self.observation_config = FrankaRopeObservationsCfg()
+        self.observation_config.policy.concatenate_terms = concatenate_observation_terms
+        self.camera_config = FrankaRopeCameraCfg()
+        self.event_config = FrankaRopeEventsCfg()
+        self.reward_config = None
+
+
+@register_retargeter
+class FrankaRopeKeyboardRetargeter(RetargetterBase):
+    """Use the standard relative-pose keyboard pipeline for the rope embodiment."""
+
+    device = "keyboard"
+    embodiment = FrankaRopeIKEmbodiment.name
+
+    def get_pipeline_builder(self, embodiment: object) -> Callable | None:
+        """Return no custom pipeline; Isaac Lab handles relative-pose keyboard input."""
+
+        del embodiment
+
+
+@register_retargeter
+class FrankaRopeSpaceMouseRetargeter(RetargetterBase):
+    """Use the standard relative-pose SpaceMouse pipeline for the rope embodiment."""
+
+    device = "spacemouse"
+    embodiment = FrankaRopeIKEmbodiment.name
+
+    def get_pipeline_builder(self, embodiment: object) -> Callable | None:
+        """Return no custom pipeline; Isaac Lab handles relative-pose SpaceMouse input."""
+
+        del embodiment

autodata_examples/envs/isaac_lab_arena/franka_rope/environment.py

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+# Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import TYPE_CHECKING, Any
+
+from isaaclab.devices import DevicesCfg, Se3KeyboardCfg, Se3SpaceMouseCfg
+from isaaclab_arena.assets.register import register_environment
+from isaaclab_arena.environments.arena_environment_factory import ArenaEnvironmentCfg, ArenaEnvironmentFactory
+from isaaclab_arena.utils.pose import Pose
+
+from .rope_asset import FrankaRopeAsset
+from .task import FrankaRopeTask
+
+if TYPE_CHECKING:
+    from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+
+FRANKA_ROPE_ARENA_ENV_ID = "Isaac-Rope-Franka-Arena-IK-Rel-v0"
+
+
+@dataclass
+class FrankaRopeArenaEnvironmentCfg(ArenaEnvironmentCfg):
+    """Configure the AutoData-owned Arena Franka rope environment."""
+
+    enable_cameras: bool = False
+    embodiment: str = "franka_rope_ik"
+    teleop_device: str | None = None
+
+
+def _configure_franka_rope_env(env_cfg: Any) -> Any:
+    """Apply rope timing and asset settings for PhysX."""
+
+    env_cfg.decimation = 5
+    env_cfg.sim.dt = 0.01
+    env_cfg.sim.render_interval = 2
+    env_cfg.num_rerenders_on_reset = 1
+    env_cfg.scene.replicate_physics = False
+    env_cfg.teleop_devices = DevicesCfg(
+        devices={
+            "keyboard": Se3KeyboardCfg(
+                pos_sensitivity=0.05,
+                rot_sensitivity=0.2,
+            ),
+            "spacemouse": Se3SpaceMouseCfg(
+                pos_sensitivity=0.2,
+                rot_sensitivity=0.5,
+            ),
+        },
+    )
+    return env_cfg
+
+
+@register_environment
+class FrankaRopeArenaEnvironment(ArenaEnvironmentFactory[FrankaRopeArenaEnvironmentCfg]):
+    """Compose the rope scene, Franka embodiment, and rope task through Arena."""
+
+    name = FRANKA_ROPE_ARENA_ENV_ID
+    _legacy_argparse_cfg_type = FrankaRopeArenaEnvironmentCfg
+
+    def build(self, cfg: FrankaRopeArenaEnvironmentCfg) -> IsaacLabArenaEnvironment:
+        """Build an Arena environment description from ``cfg``."""
+
+        from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+        from isaaclab_arena.scene.scene import Scene
+
+        table = self.asset_registry.get_asset_by_name("table")()
+        table.set_initial_pose(
+            Pose(
+                position_xyz=(0.5, 0.0, 0.0),
+                rotation_xyzw=(0.0, 0.0, 0.707, 0.707),
+            ),
+        )
+        rope = FrankaRopeAsset()
+        ground_plane = self.asset_registry.get_asset_by_name("ground_plane")()
+        ground_plane.set_initial_pose(Pose(position_xyz=(0.0, 0.0, -1.05)))
+        light = self.asset_registry.get_asset_by_name("light")()
+        light.set_intensity(3000.0)
+        light.set_color((0.75, 0.75, 0.75))
+
+        embodiment = self.asset_registry.get_asset_by_name(cfg.embodiment)(
+            enable_cameras=cfg.enable_cameras,
+        )
+        teleop_device = (
+            self.device_registry.get_device_by_name(cfg.teleop_device)() if cfg.teleop_device is not None else None
+        )
+
+        scene = Scene(
+            assets=[
+                table,
+                rope,
+                ground_plane,
+                light,
+            ],
+        )
+        task = FrankaRopeTask()
+
+        return IsaacLabArenaEnvironment(
+            name=self.name,
+            embodiment=embodiment,
+            scene=scene,
+            task=task,
+            teleop_device=teleop_device,
+            env_cfg_callback=_configure_franka_rope_env,
+        )