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Major · Require enough steps after a manual grasp mark. · step_2_annotate_demonstrations.rst:125-139
docs/pages/workflows/franka_rope_softmimicgen/step_2_annotate_demonstrations.rst:125-139 Major · Stability & Availability · Quick win
Require enough steps after a manual grasp mark.
Manual annotation can export a successful episode with fewer than 16 action steps after the mark. Generation then fails its subtask boundary assertion. Document this limit for manual marks, or apply the automatic spacing check before export.
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Review comment at
@docs/pages/workflows/franka_rope_softmimicgen/step_2_annotate_demonstrations.rst
around lines 125 - 139:
Update the manual-mark guidance for the ``S`` key to state that at least 16
action steps must remain after the grasp mark for an episode to be exported
successfully; preserve the existing instructions about mark placement and replay
checks.
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Walkthrough
The documentation adds a Franka rope SoftMimicGen workflow for Newton and PhysX. It covers demonstration recording and annotation, dataset generation, and structural and visual validation. The algorithms overview describes SoftMimicGen and registration-cost source selection.
Changes: Franka Rope SoftMimicGen Workflow
Layer / File(s)
Summary
SoftMimicGen algorithm and selection README.md, docs/pages/concepts/algorithms.rst
The overview describes TPS-based adaptation, configuration, deformable-object requirements, rigid-object fallback, and registration_cost source selection. The README adds SoftMimicGen to the algorithm list.
Workflow overview and documentation entry docs/README.md, docs/index.rst, docs/pages/workflows/franka_rope_softmimicgen/index.rst
The overview describes the task, backend selection, prerequisites, datasets, and workflow steps. The index links to the guide, and the build instructions specify command locations and output paths.
Record and annotate demonstrations docs/pages/workflows/franka_rope_softmimicgen/step_1_record_demonstrations.rst, docs/pages/workflows/franka_rope_softmimicgen/step_2_annotate_demonstrations.rst
The guides provide Newton and PhysX commands, teleoperation instructions, annotation procedures, export criteria, and dataset validation commands.
The guide provides Newton and PhysX commands for small Kit runs and larger headless runs. It describes success targets, camera recording, and command parameters.
isaac-sim/AutoData#85: Implements SoftMimicGen, nodal registration, and registration-cost selection, which the algorithms documentation describes.
isaac-sim/AutoData#86: Adds the PhysX Franka rope environment and task descriptor documented in this workflow.
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The title clearly identifies the main change: SoftMimicGen documentation.
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Summary
Adds full docs for SoftMimicGen
Detailed description
Summary by CodeRabbit