Removes legacy support for a custom-built version of pinocchio

[ashwinvkNV]

Description

This PR removes legacy support for a custom-built version of pinocchio that was previously required due to CXX ABI compatibility constraints with Kit in Isaac Sim. Now that Isaac Sim is transitioning to use a standard pinocchio build with CXX ABI=0, we can streamline the integration with IsaacLab and Pink.

Summary of Changes

• Removed all manual import pinocchio statements from user-facing scripts that previously ensured the pip-installed version was used.
• Removed (or marked for removal) enable_pinocchio flags across the repo.
• Removed the pick_place task from the task blacklist in __init__.py.
  • Reference
• Removed the pinocchio_envs subdirectory as it is no longer needed.

Note: Pinocchio and Pink are still not available on Windows. These changes assume usage on supported platforms (e.g., Linux).

Motivation and Context

This change helps to unify the use of the pinocchio library across Isaac Sim and IsaacLab, reducing maintenance overhead.

Type of Change

• Cleanup / Tech Debt
• Bug fix (non-breaking)

Screenshots

N/A

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation (if applicable)
• My changes generate no new warnings
• I have updated the changelog and the version in config/extension.toml
• I have added myself to CONTRIBUTORS.md (or already listed)

[greptile-apps]

Greptile Summary

This PR removes legacy support for a custom-built pinocchio version that was previously required due to CXX ABI compatibility issues with Isaac Sim. Now that Isaac Sim uses standard pinocchio with CXX ABI=0, the workarounds are no longer needed.

Key changes:

• Removed --enable_pinocchio CLI flags from 7 user-facing scripts
• Removed manual import pinocchio statements that forced pip-installed version
• Removed pick_place from task blacklist in isaaclab_tasks/__init__.py
• Moved environment configs from pinocchio_envs/ subdirectory to parent envs/ directory
• Deleted pinocchio_envs/__init__.py subdirectory

Issues found:

• scripts/imitation_learning/locomanipulation_sdg/generate_data.py still has enable_pinocchio flag
• Documentation files still reference --enable_pinocchio flag
• app_launcher.py contains pinocchio patching logic that may no longer be needed

Confidence Score: 3/5

• This PR is mostly safe but has incomplete cleanup that should be addressed
• The PR successfully removes most legacy pinocchio workarounds, but leaves several files unchanged that still reference the removed functionality. This creates inconsistency and could confuse users.
• Pay close attention to scripts/imitation_learning/locomanipulation_sdg/generate_data.py, documentation files, and app_launcher.py which still contain references to removed functionality

Important Files Changed

Filename	Overview
scripts/environments/teleoperation/teleop_se3_agent.py	Removed --enable_pinocchio flag and associated import logic
scripts/tools/record_demos.py	Removed --enable_pinocchio flag and conditional task imports
source/isaaclab/test/controllers/test_pink_ik.py	Removed manual pinocchio import and conditional task imports
source/isaaclab_mimic/isaaclab_mimic/envs/init.py	Added gym registrations for environments previously in pinocchio_envs subdirectory
source/isaaclab_tasks/isaaclab_tasks/init.py	Removed pick_place from blacklist, allowing it to be imported normally

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[User Scripts] -->|Before: --enable_pinocchio flag| B[Manual import pinocchio]
    B -->|Force pip version| C[Import pinocchio_envs]
    C --> D[Load GR1T2/G1 Envs]
    
    E[User Scripts] -->|After: No flag needed| F[Standard imports]
    F -->|Use Isaac Sim's pinocchio| G[Import from envs/]
    G --> H[Load GR1T2/G1 Envs]
    
    I[isaaclab_tasks/__init__.py] -->|Before| J[Blacklist: pick_place]
    I -->|After| K[No blacklist for pick_place]
    
    style B fill:#ffcccc
    style C fill:#ffcccc
    style J fill:#ffcccc
    style F fill:#ccffcc
    style G fill:#ccffcc
    style K fill:#ccffcc

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_{19 files reviewed, 3 comments}

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[greptile-apps]

Additional Comments (3)

scripts/imitation_learning/locomanipulation_sdg/generate_data.py
This file still has the --enable_pinocchio flag and import logic that should be removed for consistency with the rest of the PR. Similar cleanup should be applied here.

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

---

docs/source/how-to/cloudxr_teleoperation.rst
Documentation still references --enable_pinocchio flag which has been removed. All occurrences should be removed from the documentation.

---

source/isaaclab/isaaclab/app/app_launcher.py
The __patch_simulation_start_app method checks for enable_pinocchio flag which is being removed. Consider removing this patching logic if the custom pinocchio build is no longer needed.

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}