| from pathlib import Path | |
| import isaaclab.sim as sim_utils | |
| from isaaclab.assets import AssetBaseCfg | |
| from leisaac.utils.constant import ASSETS_ROOT | |
| """Configuration for the Custom Scene""" | |
| SCENES_ROOT = Path(ASSETS_ROOT) / "scenes" | |
| KITCHEN_SCENE_USD_PATH = str(SCENES_ROOT / "kitchen" / "scene.usd") | |
| KITCHEN_SCENE_CFG = AssetBaseCfg( | |
| spawn=sim_utils.UsdFileCfg( | |
| usd_path="omniverse://localhost/NVIDIA/Assets/Isaac/Environments/Simple_Room/simple_room.usd", | |
| ) | |
| ) | |