Moves the robot configs to orbit_assets extension (#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 <mittalma@leggedrobotics.com>

.gitattributes

+*.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:
 
@@ -44,7 +44,7 @@ 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
+.. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py
    :language: python
    :lines: 17-33
    :dedent:
@@ -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/assets/config/__init__.py

-# Copyright (c) 2022-2023, The ORBIT Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Configuration instances for different assets.
-
-This sub-module contains the configuration instances for different assets. The configuration
-instances are used to spawn and configure the assets in the simulation. They are passed to
-their corresponding asset classes during construction.
-"""
-
-from .anymal import *
-from .cartpole import *
-from .franka import *
-from .ridgeback_franka import *
-from .unitree import *
-from .universal_robots import *

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 carb
 
 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 carb
 
 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.sim as sim_utils
 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 @@ from omni.isaac.cloner import GridCloner
 
 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 carb
 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 @@ from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise
 # 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 carb
 
 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

@@ -35,7 +35,6 @@ import carb
 
 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
@@ -43,6 +42,11 @@ 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 @@ from omni.isaac.core.utils.viewports import set_camera_view
 
 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 @@ simulation_app = app_launcher.app
 
 """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.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
+
 
 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

+[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

+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

+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

+# 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

+# 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 *

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/anymal.py → source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/anymal.py

@@ -21,10 +21,9 @@ Reference:
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ActuatorNetLSTMCfg, DCMotorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
 from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
 
-from ..articulation import ArticulationCfg
-
 ##
 # Configuration - Actuators.
 ##

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

+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for Agility robots.
+
+The following configurations are available:
+
+* :obj:`CASSIE_CFG`: Agility Cassie robot with simple PD controller for the legs
+
+Reference: https://github.com/UMich-BipedLab/Cassie_Model/blob/master/urdf/cassie.urdf
+"""
+
+from __future__ import annotations
+
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.actuators import ImplicitActuatorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
+from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
+
+##
+# Configuration
+##
+
+
+CASSIE_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Agility/Cassie/cassie.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
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.9),
+        joint_pos={
+            "hip_abduction_left": 0.1,
+            "hip_rotation_left": 0.0,
+            "hip_flexion_left": 1.0,
+            "thigh_joint_left": -1.8,
+            "ankle_joint_left": 1.57,
+            "toe_joint_left": -1.57,
+            "hip_abduction_right": -0.1,
+            "hip_rotation_right": 0.0,
+            "hip_flexion_right": 1.0,
+            "thigh_joint_right": -1.8,
+            "ankle_joint_right": 1.57,
+            "toe_joint_right": -1.57,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "legs": ImplicitActuatorCfg(
+            joint_names_expr=["hip_.*", "thigh_.*", "ankle_.*"],
+            effort_limit=200.0,
+            velocity_limit=10.0,
+            stiffness={
+                "hip_abduction.*": 100.0,
+                "hip_rotation.*": 100.0,
+                "hip_flexion.*": 200.0,
+                "thigh_joint.*": 200.0,
+                "ankle_joint.*": 200.0,
+            },
+            damping={
+                "hip_abduction.*": 3.0,
+                "hip_rotation.*": 3.0,
+                "hip_flexion.*": 6.0,
+                "thigh_joint.*": 6.0,
+                "ankle_joint.*": 6.0,
+            },
+        ),
+        "toes": ImplicitActuatorCfg(
+            joint_names_expr=["toe_.*"],
+            effort_limit=20.0,
+            velocity_limit=10.0,
+            stiffness={
+                "toe_joint.*": 20.0,
+            },
+            damping={
+                "toe_joint.*": 1.0,
+            },
+        ),
+    },
+)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/franka.py → source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/franka.py

@@ -15,10 +15,9 @@ Reference: https://github.com/frankaemika/franka_ros
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
 from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
 
-from ..articulation import ArticulationCfg
-
 ##
 # Configuration
 ##

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/ridgeback_franka.py → source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/ridgeback_franka.py

@@ -14,10 +14,9 @@ Reference: https://github.com/ridgeback/ridgeback_manipulation
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 
-from ..articulation import ArticulationCfg
-
 RIDGEBACK_FRANKA_PANDA_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Clearpath/RidgebackFranka/ridgeback_franka.usd",

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/unitree.py → source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/unitree.py

@@ -16,10 +16,9 @@ Reference: https://github.com/unitreerobotics/unitree_ros
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ActuatorNetMLPCfg, DCMotorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
 from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
 
-from ..articulation import ArticulationCfg
-
 ##
 # Configuration - Actuators.
 ##

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/universal_robots.py → source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/universal_robots.py

@@ -14,10 +14,9 @@ Reference: https://github.com/ros-industrial/universal_robot
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
 from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
 
-from ..articulation import ArticulationCfg
-
 ##
 # Configuration
 ##

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

+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Installation script for the 'omni.isaac.orbit_assets' python package."""
+
+import os
+import toml
+
+from setuptools import setup
+
+# Obtain the extension data from the extension.toml file
+EXTENSION_PATH = os.path.dirname(os.path.realpath(__file__))
+# Read the extension.toml file
+EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extension.toml"))
+
+# Installation operation
+setup(
+    name="omni-isaac-orbit_assets",
+    author="ORBIT Project Developers",
+    maintainer="Mayank Mittal",
+    maintainer_email="mittalma@ethz.ch",
+    url=EXTENSION_TOML_DATA["package"]["repository"],
+    version=EXTENSION_TOML_DATA["package"]["version"],
+    description=EXTENSION_TOML_DATA["package"]["description"],
+    keywords=EXTENSION_TOML_DATA["package"]["keywords"],
+    include_package_data=True,
+    python_requires=">=3.7",
+    packages=["omni.isaac.orbit_assets"],
+    classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"],
+    zip_safe=False,
+)

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

@@ -13,6 +13,7 @@ keywords = ["robotics", "rl", "il", "learning"]
 
 [dependencies]
 "omni.isaac.orbit" = {}
+"omni.isaac.orbit_assets" = {}
 "omni.isaac.core" = {}
 "omni.isaac.gym" = {}
 "omni.replicator.isaac" = {}

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py

@@ -22,7 +22,7 @@ import omni.isaac.orbit_tasks.classic.cartpole.mdp as mdp
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.cartpole import CARTPOLE_CFG  # isort:skip
+from omni.isaac.orbit_assets.cartpole import CARTPOLE_CFG  # isort:skip
 
 
 ##

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py

@@ -10,7 +10,7 @@ from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import Locomoti
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_B_CFG  # isort: skip
+from omni.isaac.orbit_assets import ANYMAL_B_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py

@@ -10,7 +10,7 @@ from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import Locomoti
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG  # isort: skip
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py

@@ -10,7 +10,7 @@ from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import Locomoti
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.anymal import ANYMAL_D_CFG  # isort: skip
+from omni.isaac.orbit_assets.anymal import ANYMAL_D_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py

@@ -13,7 +13,7 @@ from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import Locomoti
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.cassie import CASSIE_CFG  # isort: skip
+from omni.isaac.orbit_assets.cassie import CASSIE_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py

@@ -10,7 +10,7 @@ from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import Locomoti
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.unitree import UNITREE_A1_CFG  # isort: skip
+from omni.isaac.orbit_assets.unitree import UNITREE_A1_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py

@@ -10,7 +10,7 @@ from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import Locomoti
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.unitree import UNITREE_GO1_CFG  # isort: skip
+from omni.isaac.orbit_assets.unitree import UNITREE_GO1_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py

@@ -10,7 +10,7 @@ from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import Locomoti
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit.assets.config.unitree import UNITREE_GO2_CFG  # isort: skip
+from omni.isaac.orbit_assets.unitree import UNITREE_GO2_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_abs_env_cfg.py

@@ -12,8 +12,7 @@ from . import joint_pos_env_cfg
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.franka import FRANKA_PANDA_HIGH_PD_CFG
+from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_rel_env_cfg.py

@@ -12,8 +12,7 @@ from . import joint_pos_env_cfg
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.franka import FRANKA_PANDA_HIGH_PD_CFG
+from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py

@@ -17,9 +17,8 @@ from omni.isaac.orbit_tasks.manipulation.lift.lift_env_cfg import LiftEnvCfg
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config.franka import FRANKA_PANDA_CFG
-from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG
+from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG  # isort: skip
+from omni.isaac.orbit_assets.franka import FRANKA_PANDA_CFG  # isort: skip
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/env_cfg.py

@@ -15,8 +15,7 @@ from omni.isaac.orbit_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config import FRANKA_PANDA_CFG
+from omni.isaac.orbit_assets import FRANKA_PANDA_CFG  # isort: skip
 
 
 ##

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/env_cfg.py

@@ -15,8 +15,7 @@ from omni.isaac.orbit_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg
 ##
 # Pre-defined configs
 ##
-# isort: off
-from omni.isaac.orbit.assets.config import UR10_CFG
+from omni.isaac.orbit_assets import UR10_CFG  # isort: skip
 
 
 ##

source/standalone/demos/arms.py

@@ -41,9 +41,13 @@ import omni.isaac.core.utils.prims as prim_utils
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config import FRANKA_PANDA_CFG, UR10_CFG
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets import FRANKA_PANDA_CFG, UR10_CFG  # isort:skip
+
 
 def design_scene() -> tuple[dict, list[list[float]]]:
     """Designs the scene."""

source/standalone/demos/bipeds.py

@@ -36,9 +36,13 @@ import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config.cassie import CASSIE_CFG
 from omni.isaac.orbit.sim import SimulationContext
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.cassie import CASSIE_CFG  # isort:skip
+
 
 def main():
     """Main function."""

source/standalone/demos/quadrupeds.py

@@ -44,8 +44,12 @@ import omni.isaac.core.utils.prims as prim_utils
 
 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, ANYMAL_D_CFG
-from omni.isaac.orbit.assets.config.unitree import UNITREE_A1_CFG, UNITREE_GO1_CFG, UNITREE_GO2_CFG
+
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG, ANYMAL_D_CFG  # isort:skip
+from omni.isaac.orbit_assets.unitree import UNITREE_A1_CFG, UNITREE_GO1_CFG, UNITREE_GO2_CFG  # isort:skip
 
 
 def define_origins(num_origins: int, spacing: float) -> list[list[float]]:

source/standalone/tutorials/01_assets/run_articulation.py

@@ -42,9 +42,13 @@ import omni.isaac.core.utils.prims as prim_utils
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.config import CARTPOLE_CFG
 from omni.isaac.orbit.sim import SimulationContext
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets import CARTPOLE_CFG  # isort:skip
+
 
 def design_scene() -> tuple[dict, list[list[float]]]:
     """Designs the scene."""

source/standalone/tutorials/02_scene/create_scene.py

@@ -42,11 +42,15 @@ import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.assets.config import CARTPOLE_CFG
 from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg
 from omni.isaac.orbit.sim import SimulationContext
 from omni.isaac.orbit.utils import configclass
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets import CARTPOLE_CFG  # isort:skip
+
 
 @configclass
 class CartpoleSceneCfg(InteractiveSceneCfg):

source/standalone/tutorials/03_envs/create_quadruped_base_env.py

@@ -50,7 +50,6 @@ import carb
 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
@@ -67,6 +66,7 @@ from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise
 # 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/standalone/tutorials/04_sensors/add_sensors_on_robot.py

@@ -49,11 +49,15 @@ import carb
 
 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 CameraCfg, ContactSensorCfg, 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/standalone/tutorials/04_sensors/run_frame_transformer.py

@@ -41,12 +41,16 @@ import torch
 import omni.isaac.orbit.sim as sim_utils
 import omni.isaac.orbit.utils.math as math_utils
 from omni.isaac.orbit.assets import Articulation
-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.sensors import FrameTransformer, FrameTransformerCfg, OffsetCfg
 from omni.isaac.orbit.sim import SimulationContext
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG  # isort:skip
+
 
 def define_sensor() -> FrameTransformer:
     """Defines the FrameTransformer sensor to add to the scene."""

source/standalone/tutorials/05_controllers/run_diff_ik.py

@@ -46,7 +46,6 @@ import carb
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import AssetBaseCfg
-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.managers import SceneEntityCfg
 from omni.isaac.orbit.markers import VisualizationMarkers
@@ -56,6 +55,11 @@ from omni.isaac.orbit.utils import configclass
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 from omni.isaac.orbit.utils.math import subtract_frame_transforms
 
+##
+# Pre-defined configs
+##
+from omni.isaac.orbit_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG  # isort:skip
+
 
 @configclass
 class TableTopSceneCfg(InteractiveSceneCfg):