Test mobility_es extension will enconter "FileNotFoundError: USD file not found"

[tangkangqi]

After install mobility_es extension follow the procedure as : https://github.com/NVlabs/COMPASS/blob/main/compass/rl_env/README.md#installation
${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e exts/mobility_es

Then run:
${ISAACLAB_PATH}/isaaclab.sh -p scripts/play.py --enable_cameras

will encounter usd file missing error:

[INFO]: Time taken for scene creation : 0.432502 seconds
Traceback (most recent call last):
File "/home/horde/Desktop/isaac/COMPASS/compass/rl_env/scripts/play.py", line 73, in
main() File "/home/horde/Desktop/isaac/COMPASS/compass/rl_env/scripts/play.py", line 48, in main
env = RLESEnvWrapper(cfg=env_cfg)
File "/home/horde/Desktop/isaac/COMPASS/compass/rl_env/exts/mobility_es/mobility_es/wrapper/env_wrapper.py", line 40, in init
super().init(cfg, render_mode)
File "/home/horde/Desktop/isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py", line 75, in init super().init(cfg=cfg)
File "/home/horde/Desktop/isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py", line 118, in init self.scene = InteractiveScene(self.cfg.scene)
File "/home/horde/Desktop/isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py", line 150, in init self._add_entities_from_cfg()
File "/home/horde/Desktop/isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py", line 513, in _add_entities_from_cfg asset_cfg.spawn.func(
File "/home/horde/Desktop/isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py", line 251, in wrapper prim = func(prim_paths[0], cfg, *args, **kwargs)
File "/home/horde/Desktop/isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py", line 60, in spawn_from_usd return _spawn_from_usd_file(prim_path, cfg.usd_path, cfg, translation, orientation)
File "/home/horde/Desktop/isaac/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py", line 217, in _spawn_from_usd_file raise FileNotFoundError(f"USD file not found at path: '{usd_path}'.")
FileNotFoundError: USD file not found at path: '/home/horde/Desktop/isaac/COMPASS/compass/rl_env/exts/mobility_es/mobility_es/config/../usd/sample_small_footprint_one_rack_obst_sdg/sample_small_footprint_one_rack_obst_sdg.usd'.

[tangkangqi]

Sorry, just noticed this: https://github.com/NVlabs/COMPASS/tree/main?tab=readme-ov-file#5-residual-rl-environment-usds

[tangkangqi]

[nv-liuw]

Thanks for reporting and the feedback, updated the README.