Doc update, cuRobo tests teardown update

Author: njawale42

docs/source/overview/imitation-learning/skillgen.rst

@@ -346,7 +346,7 @@ Train a state-based policy for the basic cube stacking task:
 .. code:: bash
 
    ./isaaclab.sh -p scripts/imitation_learning/robomimic/train.py \
-   --task Isaac-Stack-Cube-Franka-IK-Rel-v0 \
+   --task Isaac-Stack-Cube-Franka-IK-Rel-Skillgen-v0 \
    --algo bc \
    --dataset ./datasets/generated_dataset_skillgen_cube_stack.hdf5
 
@@ -358,13 +358,13 @@ Train a policy for the more complex adaptive bin stacking:
 .. code:: bash
 
    ./isaaclab.sh -p scripts/imitation_learning/robomimic/train.py \
-   --task Isaac-Stack-Cube-Bin-Franka-IK-Rel-v0 \
+   --task Isaac-Stack-Cube-Bin-Franka-IK-Rel-Mimic-v0 \
    --algo bc \
    --dataset ./datasets/generated_dataset_skillgen_bin_cube_stack.hdf5
 
 .. note::
 
-   The training script will save the model checkpoints in the model directory under ``PATH_TO_MODEL_DIRECTORY/logs/model_checkpoint.pth``.
+   The training script will save the model checkpoints in the model directory under ``IssacLab/logs/robomimic``.
 
 Evaluating Trained Policies
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -376,7 +376,7 @@ Test your trained policies:
    # Basic cube stacking evaluation
    ./isaaclab.sh -p scripts/imitation_learning/robomimic/play.py \
    --device cpu \
-   --task Isaac-Stack-Cube-Franka-IK-Rel-v0 \
+   --task Isaac-Stack-Cube-Franka-IK-Rel-Skillgen-v0 \
    --num_rollouts 50 \
    --checkpoint /path/to/model_checkpoint.pth
 
@@ -385,7 +385,7 @@ Test your trained policies:
    # Adaptive bin stacking evaluation
    ./isaaclab.sh -p scripts/imitation_learning/robomimic/play.py \
    --device cpu \
-   --task Isaac-Stack-Cube-Bin-Franka-IK-Rel-v0 \
+   --task Isaac-Stack-Cube-Bin-Franka-IK-Rel-Mimic-v0 \
    --num_rollouts 50 \
    --checkpoint /path/to/model_checkpoint.pth
 

source/isaaclab_mimic/test/test_curobo_planner_cube_stack.py

@@ -136,7 +136,6 @@ def cube_stack_test_env() -> Generator[dict[str, Any], None, None]:
     }
 
     env.close()
-    simulation_app.close()
 
 
 class TestCubeStackPlanner:

source/isaaclab_mimic/test/test_curobo_planner_franka.py

@@ -14,7 +14,7 @@
 
 from isaaclab.app import AppLauncher
 
-headless = True
+headless = False
 app_launcher = AppLauncher(headless=headless)
 simulation_app: Any = app_launcher.app
 
@@ -101,7 +101,6 @@ def curobo_test_env() -> Generator[dict[str, Any], None, None]:
 
     # Teardown: close the environment and simulation app
     env.close()
-    simulation_app.close()
 
 
 class TestCuroboPlanner: