Fix teleop recording success term (#7571)

## Summary

- keep an inert success termination registered while record_demos
evaluates the original condition manually
- preserve reward-manager references without allowing automatic success
resets during demonstration capture
- add a Franka Reach diffik startup regression test and changelog
fragment

## Root cause

record_demos removed the success termination before gym.make. The Franka
Reach reward configuration now references that term through
is_terminated_term, so reward-manager initialization could no longer
resolve the success key and raised the regular-expression mismatch.

## Testing

- verified the new regression test fails with the original behavior and
the reported success: [] error
- verified the regression test passes with the fix
- uv run --frozen --extra teleop --with pytest python -m pytest
source/isaaclab/test/cli/test_teleop_entrypoints.py -q
- ./isaaclab.sh -f

Author: maxkra15

scripts/tools/record_demos.py

@@ -200,6 +200,11 @@
 _CLOUDXR_ENV_SHORTHANDS: dict[str, str] = {}
 
 
+def _never_terminate(env: gym.Env) -> torch.Tensor:
+    """Return a false termination signal for every environment."""
+    return torch.zeros(env.num_envs, dtype=torch.bool, device=env.device)
+
+
 def _resolve_cloudxr_env(value: str | None, xr_enabled: bool = False) -> str | None:
     """Resolve ``--cloudxr_env`` shorthands to absolute ``.env`` file paths.
 
@@ -346,11 +351,12 @@ def create_environment_config(
         not teleop_device_explicitly_set and hasattr(env_cfg, "isaac_teleop") and env_cfg.isaac_teleop is not None
     )
 
-    # extract success checking function to invoke in the main loop
-    success_term = None
-    if hasattr(env_cfg.terminations, "success"):
-        success_term = env_cfg.terminations.success
-        env_cfg.terminations.success = None
+    # Extract the success condition for manual evaluation in the main loop. Keep
+    # an inert term registered under the same name so rewards and other manager
+    # terms that reference "success" can still resolve it during initialization.
+    success_term = getattr(env_cfg.terminations, "success", None)
+    if success_term is not None:
+        env_cfg.terminations.success = success_term.replace(func=_never_terminate, params={})
     else:
         logger.warning(
             "No success termination term was found in the environment."

source/isaaclab_teleop/changelog.d/maximiliank-teleop-success-placeholder.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed demonstration recording for tasks whose rewards reference the ``success``
+  termination term.

source/isaaclab_teleop/test/test_teleop_scripts_smoke.py

@@ -82,6 +82,8 @@ def _kit_dependencies(experience: Path) -> set[str]:
     "No module named 'omni.replicator'",
     "has no attribute 'enable_cameras'",
     "has no attribute 'headless'",
+    # Success termination removed while a reward still references it
+    "Not all regular expressions are matched",
     # Registry-only XR dependency: the app exits before any marker is printed
     "Exiting app because of dependency solver failure",
 )
@@ -95,6 +97,9 @@ def _kit_dependencies(experience: Path) -> set[str]:
 # Marker logged by ManagerBasedEnv creation, which runs *after* the RTX-apply site that regressed.
 _ENV_CREATED_MARKER = "Base environment:"
 
+# Marker logged after every manager has initialized successfully.
+_ENV_READY_MARKER = "Completed setting up the environment"
+
 # Disable CloudXR: no headset connects in CI, and auto-launching the runtime is unnecessary to
 # exercise the Isaac Teleop device factory (the live session is out of scope for a headless smoke).
 _NO_CLOUDXR = ["--cloudxr_env", "none", "--no-auto_launch_cloudxr"]
@@ -153,10 +158,10 @@ def _terminate_group(proc: subprocess.Popen) -> None:
 
 
 def _assert_started_cleanly(output: str, markers: list[str], script: str) -> None:
-    """Assert the run cleared the #6656 regression and reached a post-startup marker."""
+    """Assert the run cleared known regressions and reached a post-startup marker."""
     tail = output[-4000:]
     for sig in _REGRESSION_SIGNATURES:
-        assert sig not in output, f"{script}: #6656 regression signature present ({sig!r})\n---\n{tail}"
+        assert sig not in output, f"{script}: regression signature present ({sig!r})\n---\n{tail}"
     assert any(marker in output for marker in markers), (
         f"{script}: did not reach a startup marker {markers} within {_STARTUP_TIMEOUT_S:.0f}s\n---\n{tail}"
     )
@@ -199,6 +204,23 @@ def test_record_demos_starts(tmp_path):
     _assert_started_cleanly(output, [_ISAAC_TELEOP_MARKER], "record_demos.py")
 
 
+def test_record_demos_starts_when_reward_references_success(tmp_path):
+    """record_demos.py preserves success-term references while disabling automatic resets."""
+    argv = [
+        "scripts/tools/record_demos.py",
+        "--task",
+        "Isaac-Reach-Franka",
+        "--teleop_device",
+        "keyboard",
+        "--dataset_file",
+        str(tmp_path / "dataset.hdf5"),
+        "physics=isaacsim_physx",
+        "presets=diffik",
+    ]
+    output = _launch_until_marker(argv, [_ENV_READY_MARKER], tmp_path / "record_demos_success_reward.log")
+    _assert_started_cleanly(output, [_ENV_READY_MARKER], "record_demos.py with a success reward")
+
+
 def test_xr_experience_declares_only_shipped_extensions():
     """The XR experience depends on XR extensions Isaac Sim ships, not on a registry-only bundle.