Moves the robot configs to orbit_assets extension (isaac-sim#305)

# Description

Moves the robot configs from orbit core to orbit assets.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] 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
- [x] 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

---------

Co-authored-by: Mayank Mittal <[email protected]>

.gitattributes

@@ -0,0 +1,13 @@
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.mtl filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.psd filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.usda filter=lfs diff=lfs merge=lfs -text
+*.hdr filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.jit filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -51,11 +51,6 @@ _repo
 _build
 .lastformat
 
-# Internal
-# TODO: Remove this once we have a better way to handle internal files.
-source/extensions/omni.isaac.assets
-source/extensions/omni.isaac.orbit_assets
-
 # RL-Games
 **/runs/*
 **/logs/*

docs/source/how-to/write_articulation_cfg.rst

@@ -22,7 +22,7 @@ is free to move along a rail, and the pole is free to rotate about the cart.
 .. dropdown:: Code for Cartpole configuration
    :icon: code
 
-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/cartpole.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py
       :language: python
       :linenos:
 
@@ -44,10 +44,10 @@ This configuration object takes in the following parameters:
 
 The last two parameters are optional. If not specified, they are kept at their default values in the USD file.
 
-.. literalinclude:: ../../../source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/cartpole.py
-      :language: python
-      :lines: 17-33
-      :dedent:
+.. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py
+   :language: python
+   :lines: 17-33
+   :dedent:
 
 To import articulation from a URDF file instead of a USD file, you can replace the
 :class:`~sim.spawners.from_files.UsdFileCfg` with a :class:`~sim.spawners.from_files.UrdfFileCfg`.
@@ -72,7 +72,7 @@ initial state of the root of the articulation and the initial state of all its j
 example, we will spawn the Cartpole at the origin of the XY plane at a Z height of 2.0 meters.
 Meanwhile, the joint positions and velocities are set to 0.0.
 
-.. literalinclude:: ../../../source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/cartpole.py
+.. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py
    :language: python
    :lines: 34-36
    :dedent:
@@ -94,7 +94,7 @@ to combine them into a single actuator model.
 .. dropdown:: Actuator model configuration with separate actuator models
    :icon: code
 
-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/cartpole.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py
       :language: python
       :lines: 37-47
       :dedent:

docs/source/refs/changelog.rst

@@ -15,6 +15,15 @@ Extension containing the core framework of Orbit.
    :start-line: 3
 
 
+omni.isaac.orbit_assets
+------------------------
+
+Extension for configurations of various assets and sensors for Orbit.
+
+.. include:: ../../../source/extensions/omni.isaac.orbit_assets/docs/CHANGELOG.rst
+   :start-line: 3
+
+
 omni.isaac.orbit_tasks
 ----------------------
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py

@@ -36,10 +36,11 @@ class InteractiveScene:
 
     .. code-block:: python
 
-        from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
         from omni.isaac.orbit.scene import InteractiveSceneCfg
         from omni.isaac.orbit.utils import configclass
 
+        from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG
+
         @configclass
         class MySceneCfg(InteractiveSceneCfg):
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene_cfg.py

@@ -29,11 +29,11 @@ class InteractiveSceneCfg:
 
         import omni.isaac.orbit.sim as sim_utils
         from omni.isaac.orbit.assets import AssetBaseCfg
-        from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
         from omni.isaac.orbit.scene import InteractiveSceneCfg
         from omni.isaac.orbit.sensors.ray_caster import GridPatternCfg, RayCasterCfg
         from omni.isaac.orbit.utils import configclass
 
+        from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG
 
         @configclass
         class MySceneCfg(InteractiveSceneCfg):

source/extensions/omni.isaac.orbit/test/assets/check_external_force.py

@@ -45,9 +45,13 @@
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.sim import SimulationContext
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort:skip
+
 
 def main():
     """Main function."""

source/extensions/omni.isaac.orbit/test/assets/check_ridgeback_franka.py

@@ -45,7 +45,11 @@
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config.ridgeback_franka import RIDGEBACK_FRANKA_PANDA_CFG
+
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.ridgeback_franka import RIDGEBACK_FRANKA_PANDA_CFG  # isort:skip
 
 
 def design_scene():

source/extensions/omni.isaac.orbit/test/assets/test_articulation.py

@@ -30,9 +30,13 @@
 import omni.isaac.orbit.utils.string as string_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import Articulation, ArticulationCfg
-from omni.isaac.orbit.assets.config import ANYMAL_C_CFG, FRANKA_PANDA_CFG
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG  # isort:skip
+
 
 class TestArticulation(unittest.TestCase):
     """Test for articulation class."""

source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py

@@ -25,10 +25,14 @@
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG
 from omni.isaac.orbit.controllers import DifferentialIKController, DifferentialIKControllerCfg
 from omni.isaac.orbit.utils.math import compute_pose_error, subtract_frame_transforms
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG  # isort:skip
+
 
 class TestDifferentialIKController(unittest.TestCase):
     """Test fixture for checking that differential IK controller tracks commands properly."""

source/extensions/omni.isaac.orbit/test/envs/check_base_env_anymal_locomotion.py

@@ -43,7 +43,6 @@
 import omni.isaac.orbit.envs.mdp as mdp
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
@@ -60,6 +59,7 @@
 # Pre-defined configs
 ##
 from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 ##

source/extensions/omni.isaac.orbit/test/markers/check_markers_visibility.py

@@ -46,11 +46,15 @@
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg
 from omni.isaac.orbit.sensors import RayCasterCfg, patterns
 from omni.isaac.orbit.utils import configclass
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort:skip
+
 
 @configclass
 class SensorsSceneCfg(InteractiveSceneCfg):

source/extensions/omni.isaac.orbit/test/scene/check_interactive_scene.py

@@ -35,14 +35,18 @@
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import AssetBaseCfg
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg
 from omni.isaac.orbit.sensors.ray_caster import RayCasterCfg, patterns
 from omni.isaac.orbit.sim import SimulationContext
 from omni.isaac.orbit.terrains import TerrainImporterCfg
 from omni.isaac.orbit.utils import configclass
 from omni.isaac.orbit.utils.timer import Timer
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort: skip
+
 
 @configclass
 class MySceneCfg(InteractiveSceneCfg):

source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py

@@ -46,9 +46,14 @@
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.sensors.contact_sensor import ContactSensor, ContactSensorCfg
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort:skip
+
+
 """
 Helpers
 """

source/extensions/omni.isaac.orbit/test/sensors/check_frame_transformer.py

@@ -47,9 +47,9 @@
 
 """Rest everything follows."""
 
+
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import AssetBaseCfg
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.markers import VisualizationMarkers
 from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG
 from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg
@@ -59,6 +59,11 @@
 from omni.isaac.orbit.utils import configclass
 from omni.isaac.orbit.utils.timer import Timer
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort:skip
+
 
 def quat_from_euler_rpy(roll, pitch, yaw, degrees=False):
     """Converts Euler XYZ to Quaternion (w, x, y, z)."""

source/extensions/omni.isaac.orbit_assets/config/extension.toml

@@ -0,0 +1,18 @@
+[package]
+# Semantic Versioning is used: https://semver.org/
+version = "0.1.0"
+
+# Description
+title =  "ORBIT Assets"
+description="Extension containing configuration instances of different assets and sensors"
+readme  = "docs/README.md"
+repository = "https://github.com/NVIDIA-Omniverse/Orbit"
+category = "robotics"
+keywords = ["kit", "robotics", "assets", "orbit"]
+
+[dependencies]
+"omni.isaac.orbit" = {}
+
+# Main python module this extension provides.
+[[python.module]]
+name = "omni.isaac.orbit_assets"

source/extensions/omni.isaac.orbit_assets/data/.gitkeep

@@ -0,0 +1,6 @@
+For Orbit, we primarily store assets on the Omniverse Nucleus server. However, at times, it may be
+needed to store the assets locally (for debugging purposes). In such cases, this directory can be
+used for temporary hosting of assets.
+
+Inside the `data` directory, we recommend following the same structure as our Nucleus directory
+`Isaac/Samples/Orbit`. Please check the extension's README for further details.

source/extensions/omni.isaac.orbit_assets/docs/CHANGELOG.rst

@@ -0,0 +1,10 @@
+Changelog
+---------
+
+0.1.0 (2023-12-20)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Moved all assets' configuration from ``omni.isaac.orbit`` to ``omni.isaac.orbit_assets`` extension.

source/extensions/omni.isaac.orbit_assets/docs/README.md

@@ -0,0 +1,41 @@
+# Orbit: Assets for Robots and Objects
+
+This extension contains configurations for various assets and sensors. The configuration instances are
+used to spawn and configure the instances in the simulation. They are passed to their corresponding
+classes during construction.
+
+## Organizing custom assets
+
+For Orbit, we primarily store assets on the Omniverse Nucleus server. However, at times, it may be
+needed to store the assets locally (for debugging purposes). In such cases, the extension's `data`
+directory can be used for temporary hosting of assets.
+
+Inside the `data` directory, we recommend following the same structure as our Nucleus directory
+`Isaac/Samples/Orbit`. This helps us later to move these assets to the Nucleus server seamlessly.
+
+The recommended directory structure inside `data` is as follows:
+
+* **`Robots/<Company-Name>/<Robot-Name>`**: The USD files should be inside `<Robot-Name>` directory with
+  the name of the robot.
+* **`Props/<Prop-Type>/<Prop-Name>`**: The USD files should be inside `<Prop-Name>` directory with the name
+  of the prop. This includes mounts, objects and markers.
+* **`ActuatorNets/<Company-Name>`**: The actuator networks should inside `<Company-Name` directory with the
+  name of the actuator that it models.
+* **`Policies/<Task-Name>`**: The policy should be JIT/ONNX compiled with the name `policy.pt`. It should also
+  contain the parameters used for training the checkpoint. This is to ensure reproducibility.
+* **`Test/<Test-Name>`**: The asset used for unit testing purposes.
+
+## Referring to the assets in your code
+
+You can use the following snippet to refer to the assets:
+
+```python
+
+from omni.isaac.orbit_assets import ORBIT_ASSETS_DATA_DIR
+
+
+# ANYmal-C
+ANYMAL_C_USD_PATH = f"{ORBIT_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
+# ANYmal-D
+ANYMAL_D_USD_PATH = f"{ORBIT_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd"
+```

source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/__init__.py

@@ -0,0 +1,39 @@
+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Package containing asset and sensor configurations."""
+
+import os
+import toml
+
+# Conveniences to other module directories via relative paths
+ORBIT_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
+"""Path to the extension source directory."""
+
+ORBIT_ASSETS_DATA_DIR = os.path.join(ORBIT_ASSETS_EXT_DIR, "data")
+"""Path to the extension data directory."""
+
+ORBIT_ASSETS_METADATA = toml.load(os.path.join(ORBIT_ASSETS_EXT_DIR, "config", "extension.toml"))
+"""Extension metadata dictionary parsed from the extension.toml file."""
+
+# Configure the module-level variables
+__version__ = ORBIT_ASSETS_METADATA["package"]["version"]
+
+
+##
+# Configuration for different assets.
+##
+
+from .anymal import *
+from .cartpole import *
+from .franka import *
+from .ridgeback_franka import *
+from .unitree import *
+from .universal_robots import *