Fixes paths of assets for Nucleus server (#275)

As we pushed all the assets to the Nucleus, this MR now adapts all the paths to the assets to make sure they work correctly. Fixes #166 - Bug fix (non-breaking change which fixes an issue) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
isaac-sim · Dec 10, 2023 · 0757d4e · 0757d4e
1 parent 623b2d9
commit 0757d4e
Show file tree

Hide file tree

Showing 7 changed files with 76 additions and 27 deletions.
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py
@@ -652,11 +652,11 @@ def _load_extensions(self):
         if int(isaacsim_version[2]) == 2023:
             carb_settings_iface.set_string(
                 "/persistent/isaac/asset_root/default",
-                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.0",
+                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1",
             )
             carb_settings_iface.set_string(
                 "/persistent/isaac/asset_root/nvidia",
-                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets",
+                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1",
             )
 
     def _hide_stop_button(self):

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/anymal.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/anymal.py
@@ -9,17 +9,19 @@
 
 * :obj:`ANYMAL_B_CFG`: The ANYmal-B robot with ANYdrives 3.0
 * :obj:`ANYMAL_C_CFG`: The ANYmal-C robot with ANYdrives 3.0
+* :obj:`ANYMAL_D_CFG`: The ANYmal-D robot with ANYdrives 3.0
 
 Reference:
 
 * https://github.com/ANYbotics/anymal_b_simple_description
 * https://github.com/ANYbotics/anymal_c_simple_description
+* https://github.com/ANYbotics/anymal_d_simple_description
 
 """
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ActuatorNetLSTMCfg, DCMotorCfg
-from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR, ISAAC_ORBIT_NUCLEUS_DIR
+from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
 
 from ..articulation import ArticulationCfg
 
@@ -40,7 +42,7 @@
 
 ANYDRIVE_3_LSTM_ACTUATOR_CFG = ActuatorNetLSTMCfg(
     joint_names_expr=[".*HAA", ".*HFE", ".*KFE"],
-    network_file=f"{ISAAC_ORBIT_NUCLEUS_DIR}/ActuatorNets/anydrive_3_lstm_jit.pt",
+    network_file=f"{ISAAC_ORBIT_NUCLEUS_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt",
     saturation_effort=120.0,
     effort_limit=80.0,
     velocity_limit=7.5,
@@ -54,7 +56,7 @@
 
 ANYMAL_B_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmalB/anymal_b_instanceable.usd",
+        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-B/anymal_b.usd",
         activate_contact_sensors=True,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
@@ -88,9 +90,8 @@
 
 ANYMAL_C_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        # usd_path=f"{ORBIT_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
-        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd",
-        # usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmalC/anymal_c_minimal_instanceable.usd",
+        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
+        # usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd",
         activate_contact_sensors=True,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
@@ -120,3 +121,43 @@
     soft_joint_pos_limit_factor=0.95,
 )
 """Configuration of ANYmal-C robot using actuator-net."""
+
+
+ANYMAL_D_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
+        # usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d_minimal.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+        ),
+        # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.6),
+        joint_pos={
+            ".*HAA": 0.0,  # all HAA
+            ".*F_HFE": 0.4,  # both front HFE
+            ".*H_HFE": -0.4,  # both hind HFE
+            ".*F_KFE": -0.8,  # both front KFE
+            ".*H_KFE": 0.8,  # both hind KFE
+        },
+    ),
+    actuators={"legs": ANYDRIVE_3_LSTM_ACTUATOR_CFG},
+    soft_joint_pos_limit_factor=0.95,
+)
+"""Configuration of ANYmal-D robot using actuator-net.
+
+Note:
+    Since we don't have a publicly available actuator network for ANYmal-D, we use the same network as ANYmal-C.
+    This may impact the sim-to-real transfer performance.
+"""
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/cartpole.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/cartpole.py
@@ -8,18 +8,17 @@
 
 from __future__ import annotations
 
-from omni.isaac.orbit_assets import ORBIT_ASSETS_DATA_DIR
-
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import ArticulationCfg
+from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
 
 # Cartpole articulation configuration
 CARTPOLE_CFG = ArticulationCfg(
     # USD file configuration
     spawn=sim_utils.UsdFileCfg(
         # Location of USD file
-        usd_path=f"{ORBIT_ASSETS_DATA_DIR}/Robots/Classic/Cartpole/cartpole.usd",
+        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Classic/Cartpole/cartpole.usd",
         # Rigid body properties
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             rigid_body_enabled=True,

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/unitree.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/unitree.py
@@ -25,7 +25,7 @@
 
 UNITREE_A1_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Unitree/A1/a1_instanceable.usd",
+        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Unitree/A1/a1.usd",
         activate_contact_sensors=True,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,

diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_mesh_converter.py b/source/extensions/omni.isaac.orbit/test/sim/test_mesh_converter.py
@@ -6,15 +6,15 @@
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
-config = {"headless": True}
-simulation_app = SimulationApp(config)
+simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
 import os
+import tempfile
 import traceback
 import unittest
 
@@ -23,11 +23,11 @@
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.simulation_context import SimulationContext
-from omni.isaac.orbit_assets import ORBIT_ASSETS_DATA_DIR
 from pxr import UsdGeom, UsdPhysics
 
 from omni.isaac.orbit.sim.converters import MeshConverter, MeshConverterCfg
 from omni.isaac.orbit.sim.schemas import schemas_cfg
+from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, retrieve_file_path
 
 
 class TestMeshConverter(unittest.TestCase):
@@ -36,10 +36,19 @@ class TestMeshConverter(unittest.TestCase):
     @classmethod
     def setUpClass(cls):
         """Load assets for tests."""
-        # TODO: Clean this up: https://github.com/isaac-orbit/orbit/issues/166
-        assets_dir = os.path.join(ORBIT_ASSETS_DATA_DIR, "Samples/Tests/MeshConverter/duck")
+        assets_dir = f"{ISAAC_ORBIT_NUCLEUS_DIR}/Tests/MeshConverter/duck"
         # Create mapping of file endings to file paths that can be used by tests
-        cls.assets = {asset.split(".")[1]: os.path.join(assets_dir, asset) for asset in os.listdir(assets_dir)}
+        cls.assets = {
+            "obj": f"{assets_dir}/duck.obj",
+            "stl": f"{assets_dir}/duck.stl",
+            "fbx": f"{assets_dir}/duck.fbx",
+            "mtl": f"{assets_dir}/duck.mtl",
+            "png": f"{assets_dir}/duckCM.png",
+        }
+        # Download all these locally
+        download_dir = tempfile.mkdtemp(suffix="_mesh_converter_test_assets")
+        for key, value in cls.assets.items():
+            cls.assets[key] = retrieve_file_path(value, download_dir=download_dir)
 
     def setUp(self):
         """Create a blank new stage for each test."""

diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/__init__.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/__init__.py
@@ -25,6 +25,6 @@
 from .utils import import_packages
 
 # The blacklist is used to prevent importing configs from sub-packages
-_BLACKLIST_PKGS = ["locomotion.velocity.config.anymal_d", "utils"]
+_BLACKLIST_PKGS = ["utils"]
 # Import all configs in this package
 import_packages(__name__, _BLACKLIST_PKGS)
diff --git a/source/standalone/demos/quadrupeds.py b/source/standalone/demos/quadrupeds.py
@@ -44,7 +44,7 @@
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG, ANYMAL_D_CFG
 from omni.isaac.orbit.assets.config.unitree import UNITREE_A1_CFG
 
 
@@ -86,18 +86,18 @@ def design_scene() -> tuple[dict, list[list[float]]]:
     # -- Robot
     anymal_c = Articulation(ANYMAL_C_CFG.replace(prim_path="/World/Origin2/Robot"))
 
-    # Origin 3 with Unitree A1
+    # Origin 3 with Anymal D
     prim_utils.create_prim("/World/Origin3", "Xform", translation=origins[2])
     # -- Robot
-    unitree_a = Articulation(UNITREE_A1_CFG.replace(prim_path="/World/Origin3/Robot"))
+    anymal_d = Articulation(ANYMAL_D_CFG.replace(prim_path="/World/Origin3/Robot"))
 
-    # Origin 4 with Unitree Go1
-    prim_utils.create_prim("/World/Origin4", "Xform", translation=origins[2])
+    # Origin 4 with Unitree A1
+    prim_utils.create_prim("/World/Origin4", "Xform", translation=origins[3])
     # -- Robot
-    unitree_go1 = Articulation(UNITREE_A1_CFG.replace(prim_path="/World/Origin4/Robot"))
+    unitree_a = Articulation(UNITREE_A1_CFG.replace(prim_path="/World/Origin4/Robot"))
 
     # return the scene information
-    scene_entities = {"anymal_b": anymal_b, "anymal_c": anymal_c, "unitree_a": unitree_a, "unitree_go1": unitree_go1}
+    scene_entities = {"anymal_b": anymal_b, "anymal_c": anymal_c, "anymal_d": anymal_d, "unitree_a": unitree_a}
     return scene_entities, origins