Adds SkillGen framework to Isaac Lab with cuRobo support (#3303)

## Description

This PR introduces the SkillGen framework to Isaac Lab, integrating GPU
motion planning with skill-segmented data generation. It enables
efficient, high-quality dataset creation with robust collision handling,
visualization, and reproducibility.

**Note:** 
- Please look at the cuRobo usage license
![here](docs/licenses/dependencies/cuRobo-license.txt)
- Please look at updated isaacsim license
![here](docs/licenses/dependencies/isaacsim-license.txt)

### Technical Implementation:

**Annotation Framework:**
- Manual subtask start annotations to cleanly separate skill execution
from motion-planning segments
- Consistent trajectory segmentation for downstream dataset consumers

**Motion Planning:**
- **Base Motion Planner (Extensible):**
   - Introduces a reusable planner interface for uniform integration:
-
`source/isaaclab_mimic/isaaclab_mimic/motion_planners/base_motion_planner.py`
   - Defines a minimal, consistent API for planners:
- `update_world_and_plan_motion(...)`, `get_planned_poses(...)`, etc.
   - The cuRobo planner inherits from this base class.
- New planners can be added by subclassing the base class and
implementing the same API, enabling drop-in replacement without changes
to the SkillGen pipeline.
 
- **CuRobo Planner** (GPU-accelerated, collision-aware):
  - Multi-phase planning: approach → contact → retreat
  - Dynamic object attach/detach and contact-aware sphere management
  - Real-time world synchronization between Isaac Lab and cuRobo
  - Configurable collision filtering for contact phases
  - **Tests**:
-
`source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/test/test_curobo_planner_cube_stack.py`
-
`source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/test/test_curobo_planner_franka.py`
    - `source/isaaclab_mimic/test/test_generate_dataset_skillgen.py`

**Data Generation Pipeline:**
- Automated dataset generation with precise skill-based segmentation
- Integrates with existing observation/action spaces
- Supports multi-env parallel collection with cuRobo-backed planning

**Visualization and Debugging:**
- Rerun-based 3D visualization for trajectory/collision inspection
- Real-time sphere visualization for collision boundaries and contact
phases

### Dependencies:
- **cuRobo**: motion planning and collision checking
- **Rerun**: 3D visualization and debugging

### Integration:
This extends the existing mimic pipeline and remains backward
compatible. It integrates into the manager-based environment structure
and existing observation/action interfaces without breaking current
users.

## Type of change
- [x] New feature (non-breaking change which adds functionality)
- [x] This change requires a documentation update

## Screenshot

### SkillGen Data Generation

<table>
  <tr>
<td align="center"><strong>Cube Stacking SkillGen Data
Generation</strong></td>
<td align="center"><strong>Bin Cube Stacking SkillGen Data Generation
(Using Vanilla Cube Stacking Source Demos)</strong></td>
  </tr>
  <tr>
    <td>
<img
src="https://github.com/user-attachments/assets/de240b89-e670-4035-84ae-4101a4f70dae"
           alt="Cube Stacking Data Generation"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
    <td>
<img
src="https://github.com/user-attachments/assets/dd94e0a6-ad1b-4366-80c4-7ff96cabeb3e"
           alt="Bin Cube Stacking Data Generation"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
  </tr>
</table>

### Bin Cube Stacking Behavior Cloned Policy

![bin_cube_stack_bc_policy](https://github.com/user-attachments/assets/d577d726-d623-4b27-90e5-a047cd67e4f9)

### Rerun Integration

![rerun_skillgen](https://github.com/user-attachments/assets/9c469bc4-d3f6-465a-8ca6-0ddfd85c6ad0)

### Motion Planner Tests

<table>
  <tr>
    <td align="center"><strong>Obstacle Avoidance (cuRobo)</strong></td>
<td align="center"><strong>Cube Stack End-to-End (cuRobo)</strong></td>
  </tr>
  <tr>
    <td>
<img
src="https://github.com/user-attachments/assets/a022342f-4c4e-42ea-a48c-cb1ea65c94db"
           alt="Obstacle Avoidance cuRobo"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
    <td>
<img
src="https://github.com/user-attachments/assets/7e6290b6-8322-4702-ae2f-f363a87badde"
           alt="Cube Stack End-to-End cuRobo"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
  </tr>
</table>

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Kelly Guo <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>
Co-authored-by: Pascal Roth <[email protected]>

Author: 3 people

.github/actions/docker-build/action.yml

@@ -18,7 +18,7 @@ inputs:
     required: true
   dockerfile-path:
     description: 'Path to Dockerfile'
-    default: 'docker/Dockerfile.base'
+    default: 'docker/Dockerfile.curobo'
     required: false
   context-path:
     description: 'Build context path'

CONTRIBUTORS.md

@@ -101,6 +101,7 @@ Guidelines for modifications:
 * Miguel Alonso Jr
 * Mingyu Lee
 * Muhong Guo
+* Neel Anand Jawale
 * Nicola Loi
 * Norbert Cygiert
 * Nuoyan Chen (Alvin)

README.md

@@ -202,6 +202,8 @@ dependencies and assets are present in the [`docs/licenses`](docs/licenses) dire
 
 Note that Isaac Lab requires Isaac Sim, which includes components under proprietary licensing terms. Please see the [Isaac Sim license](docs/licenses/dependencies/isaacsim-license.txt) for information on Isaac Sim licensing.
 
+Note that the `isaaclab_mimic` extension requires cuRobo, which has proprietary licensing terms that can be found in [`docs/licenses/dependencies/cuRobo-license.txt`](docs/licenses/dependencies/cuRobo-license.txt).
+
 ## Acknowledgement
 
 Isaac Lab development initiated from the [Orbit](https://isaac-orbit.github.io/) framework. We would appreciate if

docker/Dockerfile.curobo

@@ -0,0 +1,144 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# Nvidia Dockerfiles: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles
+# Please check above link for license information.
+
+# Base image
+ARG ISAACSIM_BASE_IMAGE_ARG
+ARG ISAACSIM_VERSION_ARG
+FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
+ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
+
+# Set default RUN shell to bash
+SHELL ["/bin/bash", "-c"]
+
+# Adds labels to the Dockerfile
+LABEL version="2.1.1"
+LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image."
+
+# Arguments
+# Path to Isaac Sim root folder
+ARG ISAACSIM_ROOT_PATH_ARG
+ENV ISAACSIM_ROOT_PATH=${ISAACSIM_ROOT_PATH_ARG}
+# Path to the Isaac Lab directory
+ARG ISAACLAB_PATH_ARG
+ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
+# Home dir of docker user, typically '/root'
+ARG DOCKER_USER_HOME_ARG
+ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
+
+# Set environment variables
+ENV LANG=C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+
+USER root
+
+# Install dependencies and remove cache
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    libglib2.0-0 \
+    ncurses-term \
+    wget && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+
+# Detect Ubuntu version and install CUDA 12.8 via NVIDIA network repo (cuda-keyring)
+RUN set -euo pipefail && \
+    . /etc/os-release && \
+    case "$ID" in \
+      ubuntu) \
+        case "$VERSION_ID" in \
+          "20.04") cuda_repo="ubuntu2004";; \
+          "22.04") cuda_repo="ubuntu2204";; \
+          "24.04") cuda_repo="ubuntu2404";; \
+          *) echo "Unsupported Ubuntu $VERSION_ID"; exit 1;; \
+        esac ;; \
+      *) echo "Unsupported base OS: $ID"; exit 1 ;; \
+    esac && \
+    apt-get update && apt-get install -y --no-install-recommends wget gnupg ca-certificates && \
+    wget -q https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-keyring_1.1-1_all.deb && \
+    dpkg -i cuda-keyring_1.1-1_all.deb && \
+    rm -f cuda-keyring_1.1-1_all.deb && \
+    wget -q https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-${cuda_repo}.pin && \
+    mv cuda-${cuda_repo}.pin /etc/apt/preferences.d/cuda-repository-pin-600 && \
+    apt-get update && \
+    apt-get install -y --no-install-recommends cuda-toolkit-12-8 && \
+    apt-get -y autoremove && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+
+ENV CUDA_HOME=/usr/local/cuda-12.8
+ENV PATH=${CUDA_HOME}/bin:${PATH}
+ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:${LD_LIBRARY_PATH}
+ENV TORCH_CUDA_ARCH_LIST=8.0+PTX
+
+# Copy the Isaac Lab directory (files to exclude are defined in .dockerignore)
+COPY ../ ${ISAACLAB_PATH}
+
+# Ensure isaaclab.sh has execute permissions
+RUN chmod +x ${ISAACLAB_PATH}/isaaclab.sh
+
+# Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the Isaac Lab directory
+RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ISAACLAB_PATH}/_isaac_sim
+
+# Install toml dependency
+RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install toml
+
+# Install apt dependencies for extensions that declare them in their extension.toml
+RUN --mount=type=cache,target=/var/cache/apt \
+    ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py apt ${ISAACLAB_PATH}/source && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+
+# for singularity usage, have to create the directories that will binded
+RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/pip && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/nvidia/GLCache &&  \
+    mkdir -p ${DOCKER_USER_HOME}/.nv/ComputeCache && \
+    mkdir -p ${DOCKER_USER_HOME}/.nvidia-omniverse/logs && \
+    mkdir -p ${DOCKER_USER_HOME}/.local/share/ov/data && \
+    mkdir -p ${DOCKER_USER_HOME}/Documents
+
+# for singularity usage, create NVIDIA binary placeholders
+RUN touch /bin/nvidia-smi && \
+    touch /bin/nvidia-debugdump && \
+    touch /bin/nvidia-persistenced && \
+    touch /bin/nvidia-cuda-mps-control && \
+    touch /bin/nvidia-cuda-mps-server && \
+    touch /etc/localtime && \
+    mkdir -p /var/run/nvidia-persistenced && \
+    touch /var/run/nvidia-persistenced/socket
+
+# installing Isaac Lab dependencies
+# use pip caching to avoid reinstalling large packages
+RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+    ${ISAACLAB_PATH}/isaaclab.sh --install
+
+# Install cuRobo from source (pinned commit); needs CUDA env and Torch
+RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation \
+    "nvidia-curobo @ git+https://github.com/NVlabs/curobo.git@ebb71702f3f70e767f40fd8e050674af0288abe8"
+
+# HACK: Remove install of quadprog dependency
+RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
+
+# aliasing isaaclab.sh and python for convenience
+RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
+    echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
+    echo "alias python=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
+    echo "alias python3=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
+    echo "alias pip='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
+    echo "alias pip3='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
+    echo "alias tensorboard='${ISAACLAB_PATH}/_isaac_sim/python.sh ${ISAACLAB_PATH}/_isaac_sim/tensorboard'" >> ${HOME}/.bashrc && \
+    echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc && \
+    echo "shopt -s histappend" >> /root/.bashrc && \
+    echo "PROMPT_COMMAND='history -a'" >> /root/.bashrc
+
+# make working directory as the Isaac Lab directory
+# this is the default directory when the container is run
+WORKDIR ${ISAACLAB_PATH}