Refactor lerobot format conversion and upgrade Isaaclab to v2.1.0

[KumoLiu]

Part of #127

Description

• upgrade Isaaclab to v2.1.0
• patch Isaaclab to support random texture generate and semantic segmentation generate
• update data config used for GR00T-N1 training
• Instroduce BaseFeatureDict to refactor the convert_hdf5_to_lerobot.py support both Pi0 and GR00T data format
• Increase the default phantom randomness in the franka_manager_rl_env_cfg.py
• Add training code

[Copilot]

Pull Request Overview

This PR refactors the LeRobot format conversion tests, upgrades Isaaclab to v2.1.0 (with accompanying patch application for random texture generation and semantic tags), and adds segmentation support in multiple modules.

• Updated test imports and parameters (fps and image dimensions) for dataset creation.
• Removed the legacy convert_hdf5_to_lerobot.py script and updated references in training and testing.
• Enhanced simulation and data collection logic by including semantic segmentation and additional camera metadata.

Reviewed Changes

Copilot reviewed 21 out of 21 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
workflows/robotic_ultrasound/tests/test_training/test_training.py	Updated test cases to pass a feature builder and modified dataset parameters.
workflows/robotic_ultrasound/scripts/training/pi_zero/convert_hdf5_to_lerobot.py	Entire file removed to phase out legacy conversion code.
workflows/robotic_ultrasound/scripts/training/gr00t_n1/train.py	Updated training pipeline for GR00T-N1 model, including torchrun support for multi-GPU training.
workflows/robotic_ultrasound/scripts/simulation/*	Modified calls to capture_camera_images to handle segmentation output and added new camera metadata collection.
tools/env_setup/install_isaac.sh	Upgraded Isaaclab clone version and added patch application steps for random texture and semantic tags.
workflows/robotic_ultrasound/scripts/policy_runner/gr00tn1/utils.py	Adjusted normalization settings for state and action transforms.

Comments suppressed due to low confidence (1)

workflows/robotic_ultrasound/scripts/policy_runner/gr00tn1/utils.py:101

• The normalization mode for 'state.panda_hand' has been changed from 'min_max' to 'mean_std'. Please ensure this change is consistent with the overall data normalization pipeline and documented accordingly.

                    "state.panda_hand": "mean_std",

[KumoLiu]

test log:

.
----------------------------------------------------------------------
Ran 2 tests in 63.072s

OK
wandb:
wandb: You can sync this run to the cloud by running:
wandb: wandb sync /home/yunliu/Workspace/Code/i4h-workflows/workflows/robotic_ultrasound/wandb/offline-run-20250529_174927-xs215srj
wandb: Find logs at: wandb/offline-run-20250529_174927-xs215srj/logs
terminate called without an active exception
Aborted (core dumped)

[KumoLiu]

/build

[KumoLiu]

/build

[KumoLiu]

/build

[KumoLiu]

/build