Unify Isaac Lab assets with Isaac Sim

CONTRIBUTORS.md

@@ -85,6 +85,7 @@ Guidelines for modifications:
 * Jan Kerner
 * Jean Tampon
 * Jeonghwan Kim
+* Ji Yuan (Steven) Feng
 * Jia Lin Yuan
 * Jiakai Zhang
 * Jinghuan Shang

scripts/demos/markers.py

@@ -36,7 +36,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
 from isaaclab.sim import SimulationContext
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.math import quat_from_angle_axis
 
 
@@ -82,7 +82,7 @@ def define_markers() -> VisualizationMarkers:
                 visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.25, 0.0)),
             ),
             "robot_mesh": sim_utils.UsdFileCfg(
-                usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
                 scale=(2.0, 2.0, 2.0),
                 visual_material=sim_utils.GlassMdlCfg(glass_color=(0.0, 0.1, 0.0)),
             ),

scripts/demos/multi_asset.py

@@ -53,7 +53,7 @@
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils import Timer, configclass
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 ##
 # Pre-defined Configuration
@@ -183,8 +183,8 @@ class MultiObjectSceneCfg(InteractiveSceneCfg):
         prim_path="/World/envs/env_.*/Robot",
         spawn=sim_utils.MultiUsdFileCfg(
             usd_path=[
-                f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
-                f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
+                f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
+                f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_d/anymal_d.usd",
             ],
             random_choice=True,
             rigid_props=sim_utils.RigidBodyPropertiesCfg(

source/isaaclab/isaaclab/sim/spawners/__init__.py

@@ -16,10 +16,10 @@
    .. code-block:: python
 
     import isaaclab.sim as sim_utils
-    from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+    from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
     # spawn from USD file
-    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd")
     prim_path = "/World/myAsset"
 
     # spawn using the function from the module
@@ -30,10 +30,10 @@
    .. code-block:: python
 
     import isaaclab.sim as sim_utils
-    from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+    from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
     # spawn from USD file
-    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd")
     prim_path = "/World/myAsset"
 
     # use the `func` reference in the config class

source/isaaclab/isaaclab/utils/assets.py

@@ -28,6 +28,7 @@
 logger = logging.getLogger(__name__)
 
 NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")
+
 """Path to the root directory on the Nucleus Server."""
 
 NVIDIA_NUCLEUS_DIR = f"{NUCLEUS_ASSET_ROOT_DIR}/NVIDIA"

source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py

@@ -61,10 +61,6 @@
 ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac"
 """Path to the `Isaac` directory on the NVIDIA Nucleus Server."""
 
-ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab"
-"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server."""
-
-
 """
 Main
 """
@@ -90,7 +86,7 @@ def main():
     prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
     # -- Robot
     # resolve asset
-    usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
+    usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
     root_prim_path = "/World/Robot/base"
     # add asset
     print("Loading robot from: ", usd_path)

source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py

@@ -68,9 +68,6 @@
 ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac"
 """Path to the `Isaac` directory on the NVIDIA Nucleus Server."""
 
-ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab"
-"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server."""
-
 
 """
 Main
@@ -104,10 +101,7 @@ def main():
     prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
     # -- Robot
     # resolve asset
-    if args_cli.asset == "isaaclab":
-        usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
-        root_prim_path = "/World/envs/env_.*/Robot/base"
-    elif args_cli.asset == "oige":
+    if args_cli.asset == "isaaclab" or args_cli.asset == "oige":
         usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
         root_prim_path = "/World/envs/env_.*/Robot"
     elif os.path.exists(args_cli.asset):

source/isaaclab/test/deps/isaacsim/check_ref_count.py

@@ -61,9 +61,6 @@
 ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac"
 """Path to the `Isaac` directory on the NVIDIA Nucleus Server."""
 
-ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab"
-"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server."""
-
 
 """
 Classes
@@ -76,7 +73,7 @@ class AnymalArticulation:
     def __init__(self):
         """Initialize the Anymal articulation class."""
         # resolve asset
-        usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
+        usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
         # add asset
         print("Loading robot from: ", usd_path)
         prim_utils.create_prim("/World/Robot", usd_path=usd_path, translation=(0.0, 0.0, 0.6))

source/isaaclab/test/sim/test_simulation_stage_in_memory.py

@@ -26,7 +26,7 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.simulation_context import SimulationCfg, SimulationContext
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.version import get_isaac_sim_version
 
 
@@ -146,8 +146,8 @@ def test_stage_in_memory_with_usds(sim):
     # define parameters
     num_clones = 10
     usd_paths = [
-        f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
-        f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
+        f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
+        f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_d/anymal_d.usd",
     ]
 
     # grab stage in memory and set as current stage via the with statement
@@ -209,7 +209,7 @@ def test_stage_in_memory_with_clone_in_fabric(sim):
         pytest.skip("Stage in memory is not supported in this version of Isaac Sim")
 
     # define parameters
-    usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
+    usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
     num_clones = 100
 
     # grab stage in memory and set as current stage via the with statement

source/isaaclab/test/sim/test_spawn_from_files.py

@@ -19,7 +19,7 @@
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.version import get_isaac_sim_version
 
 
@@ -48,7 +48,7 @@ def sim():
 def test_spawn_usd(sim):
     """Test loading prim from Usd file."""
     # Spawn cone
-    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd")
     prim = cfg.func("/World/Franka", cfg)
     # Check validity
     assert prim.IsValid()
@@ -60,7 +60,9 @@ def test_spawn_usd(sim):
 def test_spawn_usd_fails(sim):
     """Test loading prim from Usd file fails when asset usd path is invalid."""
     # Spawn cone
-    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda2_instanceable.usd")
+    cfg = sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda2_instanceable.usd"
+    )
 
     with pytest.raises(FileNotFoundError):
         cfg.func("/World/Franka", cfg)

source/isaaclab/test/sim/test_spawn_wrappers.py

@@ -18,7 +18,7 @@
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 
 @pytest.fixture
@@ -136,8 +136,8 @@ def test_spawn_multiple_files_with_global_settings(sim):
 
     cfg = sim_utils.MultiUsdFileCfg(
         usd_path=[
-            f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
-            f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
+            f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
+            f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_d/anymal_d.usd",
         ],
         random_choice=True,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(

source/isaaclab/test/sim/test_utils_prims.py

@@ -23,7 +23,7 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.utils.prims import _to_tuple  # type: ignore[reportPrivateUsage]
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 
 @pytest.fixture(autouse=True)
@@ -76,7 +76,7 @@ def test_create_prim():
     assert prim.GetAttribute("size").Get() == 100
 
     # check adding USD reference
-    franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+    franka_usd = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
     prim = sim_utils.create_prim("/World/Test/USDReference", usd_path=franka_usd, stage=stage)
     # check USD reference set
     assert prim.IsValid()
@@ -319,7 +319,7 @@ def test_delete_prim():
     # check for usd reference
     prim = sim_utils.create_prim(
         "/World/Test/USDReference",
-        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
         stage=stage,
     )
     # delete prim
@@ -345,7 +345,7 @@ def test_move_prim():
     prim = sim_utils.create_prim(
         "/World/Test/Xform",
         "Xform",
-        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
         translation=(1.0, 2.0, 3.0),
         orientation=(0.0, 0.0, 0.0, 1.0),
         stage=stage,
@@ -392,7 +392,7 @@ def test_get_usd_references():
     assert len(refs) == 0
 
     # Create a prim with a USD reference
-    franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+    franka_usd = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
     sim_utils.create_prim("/World/WithReference", usd_path=franka_usd, stage=stage)
     # Check that it has the expected reference
     refs = sim_utils.get_usd_references("/World/WithReference", stage=stage)

source/isaaclab/test/sim/test_utils_queries.py

@@ -18,7 +18,7 @@
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 
 @pytest.fixture(autouse=True)
@@ -98,7 +98,9 @@ def test_get_all_matching_child_prims():
     # note: isaac sim function does not support instanced prims so we add it here
     #  after the above test for the above test to still pass.
     sim_utils.create_prim(
-        "/World/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/Franka",
+        "Xform",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
     )
 
     # test with predicate
@@ -123,13 +125,19 @@ def test_get_first_matching_child_prim():
     # create scene
     sim_utils.create_prim("/World/Floor")
     sim_utils.create_prim(
-        "/World/env_1/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/env_1/Franka",
+        "Xform",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
     )
     sim_utils.create_prim(
-        "/World/env_2/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/env_2/Franka",
+        "Xform",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
     )
     sim_utils.create_prim(
-        "/World/env_0/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+        "/World/env_0/Franka",
+        "Xform",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
     )
 
     # test
@@ -151,8 +159,10 @@ def test_find_global_fixed_joint_prim():
     """Test find_global_fixed_joint_prim() function."""
     # create scene
     sim_utils.create_prim("/World")
-    sim_utils.create_prim("/World/ANYmal", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd")
-    sim_utils.create_prim("/World/Franka", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
+    sim_utils.create_prim("/World/ANYmal", usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd")
+    sim_utils.create_prim(
+        "/World/Franka", usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd"
+    )
     if "4.5" in ISAAC_NUCLEUS_DIR:
         franka_usd = f"{ISAAC_NUCLEUS_DIR}/Robots/Franka/franka.usd"
     else:

source/isaaclab/test/utils/test_assets.py

@@ -26,27 +26,27 @@ def test_nucleus_connection():
 def test_check_file_path_nucleus():
     """Test checking a file path on the Nucleus server."""
     # robot file path
-    usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+    usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd"
     # check file path
     assert assets_utils.check_file_path(usd_path) == 2
 
 
 def test_check_file_path_invalid():
     """Test checking an invalid file path."""
     # robot file path
-    usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd"
+    usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_xyz.usd"
     # check file path
     assert assets_utils.check_file_path(usd_path) == 0
 
 
 def test_check_usd_path_with_timeout():
     """Test checking a USD path with timeout."""
     # robot file path
-    usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
+    usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd"
     # check file path
     assert assets_utils.check_usd_path_with_timeout(usd_path) is True
 
     # invalid file path
-    usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd"
+    usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_xyz.usd"
     # check file path
     assert assets_utils.check_usd_path_with_timeout(usd_path) is False

source/isaaclab_assets/isaaclab_assets/robots/agibot.py

@@ -15,15 +15,15 @@
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 ##
 # Configuration
 ##
 
 AGIBOT_A2D_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Agibot/A2D/A2D_physics.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Agibot/A2D/A2D.usd",
         activate_contact_sensors=True,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,