Replay supports ee transform

Author: qianl-nv

isaaclab_arena/scripts/imitation_learning/record_demos.py

@@ -56,6 +56,15 @@
     default=False,
     help="Enable Pinocchio.",
 )
+parser.add_argument(
+    "--use_world_frame_actions",
+    action="store_true",
+    default=False,
+    help=(
+        "Use world frame actions for recording. This is automatically enabled when using "
+        "motion_controllers or openxr teleop devices, but can be explicitly set if needed."
+    ),
+)
 
 # Add the example environments CLI args
 # NOTE(alexmillane, 2025.09.04): This has to be added last, because

isaaclab_arena/scripts/imitation_learning/replay_demos.py

@@ -42,6 +42,15 @@
     default=False,
     help="Enable Pinocchio.",
 )
+parser.add_argument(
+    "--use_world_frame_actions",
+    action="store_true",
+    default=False,
+    help=(
+        "Use world frame actions for replay. Set this to True when replaying demos recorded with "
+        "motion controllers or other VR devices that output world-space poses."
+    ),
+)
 
 # Add the example environments CLI args
 # NOTE(alexmillane, 2025.09.04): This has to be added last, because

isaaclab_arena/scripts/imitation_learning/teleop.py

@@ -29,6 +29,15 @@
     default=False,
     help="Enable Pinocchio.",
 )
+parser.add_argument(
+    "--use_world_frame_actions",
+    action="store_true",
+    default=False,
+    help=(
+        "Use world frame actions for teleoperation. This is automatically enabled when using "
+        "motion_controllers or openxr teleop devices, but can be explicitly set if needed."
+    ),
+)
 
 # Add the example environments CLI args
 # NOTE(alexmillane, 2025.09.04): This has to be added last, because

isaaclab_arena_environments/galileo_g1_locomanip_pick_and_place_environment.py

@@ -23,10 +23,17 @@ def get_env(self, args_cli: argparse.Namespace):
         blue_sorting_bin = self.asset_registry.get_asset_by_name("blue_sorting_bin")()
 
         # Check if we need world frame actions (for VR/motion controllers)
-        use_world_frame_actions = (
-            args_cli.teleop_device in ["motion_controllers", "openxr"]
-            and args_cli.embodiment == "g1_wbc_pink"
-        )
+        # This can be set via:
+        # 1. --use_world_frame_actions flag (for replay)
+        # 2. Using motion_controllers/openxr teleop device (for recording/teleop)
+        use_world_frame_actions = False
+        if hasattr(args_cli, 'use_world_frame_actions') and args_cli.use_world_frame_actions:
+            use_world_frame_actions = True
+        elif hasattr(args_cli, 'teleop_device') and args_cli.teleop_device in ["motion_controllers", "openxr"]:
+            use_world_frame_actions = True
+        
+        # Only apply world frame actions for g1_wbc_pink embodiment
+        use_world_frame_actions = use_world_frame_actions and args_cli.embodiment == "g1_wbc_pink"
 
         # Create embodiment with appropriate action config
         if use_world_frame_actions:
@@ -62,6 +69,7 @@ def get_env(self, args_cli: argparse.Namespace):
         )
         embodiment.set_initial_pose(Pose(position_xyz=(0.0, 0.18, 0.0), rotation_wxyz=(1.0, 0.0, 0.0, 0.0)))
 
+        # Configure navigation for mimic use case
         if (
             args_cli.embodiment == "g1_wbc_pink"
             and hasattr(args_cli, "mimic")