Bundled RubiksCubeAndBananaTask trajectory does not reproduce successfully

[SetasAditya]

Description

The bundled RubiksCubeAndBananaTask HDF5 episode is marked success=True, but replaying it does not complete the task.

In each replay, the arm grasps the banana and Rubik's cube but drops them during transport. The generated result reports:

• success: null
• step: null
• score: 0.0

Reproduction

python examples/run_recorded.py \
  --task RubiksCubeAndBananaTask \
  --recorded-data-folder examples/recorded_data \
  --num_envs 1 \
  --headless \
  --enable-subtask

I tested:

• Isaac Sim 5.0 / Isaac Lab 2.2: twice
• Isaac Sim 5.1 / Isaac Lab 2.3.2: once

All three replays failed to complete the task. The two Isaac 5.0 runs produced the same failure events at the same steps.

Additional observations

run_prerecorded_episode_hdf5() calls env.reset() and loads the recorded actions, but does not appear to restore the HDF5 initial_state or saved environment configuration.

The default --recorded-data-folder is examples/demo/recorded_data, while the bundled data is located at examples/recorded_data.

Environment

• Ubuntu 24.04
• NVIDIA RTX 5080 Laptop GPU
• NVIDIA driver 580.159.03
• Python 3.11
• RoboLab commit: 92313e0

I can attach the complete logs and videos if needed.