Fix Franka assembly asset path

[cvolkcvolk]

Summary

Fix Franka assembly asset path

Detailed description

• The Franka path in the pinned Isaac Lab config is unavailable; the asset is available under FrankaEmika/Legacy.
• Pin the Arena assembly robot configuration to the Legacy location.
• Add a tripwire test that flags future upstream path updates and lists the cleanup steps.

[greptile-apps]

Greptile Summary

This PR fixes a broken asset path for the Franka Panda assembly robot configuration after the Isaac 6.0 release moved the USD file into a Legacy subdirectory. It also adds the missing ISAACLAB_NUCLEUS_DIR import needed to construct that path.

• Updates FRANKA_PANDA_ASSEMBLY_HIGH_PD_CFG.spawn.usd_path from the old Robots/FrankaEmika/panda_instanceable.usd location to Robots/FrankaEmika/Legacy/panda_instanceable.usd.
• Adds from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR so the f-string path resolves correctly at runtime.

Confidence Score: 5/5

Safe to merge — this is a single-file path correction with no logic changes.

The change updates one string path and adds its required import. No other files reference panda_instanceable.usd, so the fix is complete and self-contained. The rest of the assembly config (contact sensors, gravity, actuator tuning, initial pose) is untouched.

No files require special attention.

Important Files Changed

Filename	Overview
isaaclab_arena_environments/mdp/robot_configs.py	Updates Franka assembly config to use the new Isaac 6.0 asset path under FrankaEmika/Legacy/; adds the required ISAACLAB_NUCLEUS_DIR import.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["FRANKA_PANDA_HIGH_PD_CFG\nbase config from isaaclab_assets"] -->|copy| B["FRANKA_PANDA_ASSEMBLY_HIGH_PD_CFG"]
    B -->|spawn.usd_path| C["ISAACLAB_NUCLEUS_DIR +\nRobots/FrankaEmika/Legacy/panda_instanceable.usd"]
    B -->|activate_contact_sensors| D["Contact Sensors Enabled"]
    B -->|disable_gravity| E["Gravity Disabled"]
    B -->|actuator tuning| F["panda_shoulder / panda_forearm / panda_hand"]
    C --- OLD["OLD path - Isaac less than 6.0\nRobots/FrankaEmika/panda_instanceable.usd"]
    C --- NEW["NEW path - Isaac 6.0\nRobots/FrankaEmika/Legacy/panda_instanceable.usd"]

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flowchart TD
    A["FRANKA_PANDA_HIGH_PD_CFG\nbase config from isaaclab_assets"] -->|copy| B["FRANKA_PANDA_ASSEMBLY_HIGH_PD_CFG"]
    B -->|spawn.usd_path| C["ISAACLAB_NUCLEUS_DIR +\nRobots/FrankaEmika/Legacy/panda_instanceable.usd"]
    B -->|activate_contact_sensors| D["Contact Sensors Enabled"]
    B -->|disable_gravity| E["Gravity Disabled"]
    B -->|actuator tuning| F["panda_shoulder / panda_forearm / panda_hand"]
    C --- OLD["OLD path - Isaac less than 6.0\nRobots/FrankaEmika/panda_instanceable.usd"]
    C --- NEW["NEW path - Isaac 6.0\nRobots/FrankaEmika/Legacy/panda_instanceable.usd"]

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_{Reviews (1): Last reviewed commit: "Fix Franka assembly asset path" | Re-trigger Greptile}

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

This PR repoints the assembly Franka config from the upstream panda_instanceable.usd path (unavailable after the Isaac 6.0 asset migration) to the FrankaEmika/Legacy/ location, and adds a small tripwire test that fails when Isaac Lab changes its pinned path so the workaround gets cleaned up. The override lives in the right layer (isaaclab_arena_environments/mdp/robot_configs.py) and mirrors the existing usd_path override in embodiments/franka/franka.py; the assembly config was the only place inheriting the broken upstream path, so the fix is well-scoped. Clean and well-documented — the self-cleaning tripwire with explicit cleanup steps is good hygiene for a temporary workaround.

Findings

None. Copyright years are correct for modified files, the deferred isaaclab imports in the tripwire test follow convention, and the non-sim test is correctly written as a plain test rather than wrapped in the sim harness.

Test Coverage

The tripwire test is an unmarked Phase-1 test that only reads config values, so the inner/outer sim pattern is (correctly) not used. The actual Legacy asset path is exercised by the existing assembly sim tests. Reasonable coverage for the change.

Verdict

Ship it