Request: Provide reversed cable USD asset for Isaac Lab (Trial 3 SC insertion)

[hiroking0523]

Description

Description

The NVIDIA-provided Isaac Lab asset pack (Intrinsic_assets.zip) contains aic_unified_robot_cable_sdf.usd for the SFP cable configuration (Trial1 & 2). However, there is no equivalent USD for the reversed cable (sfp_sc_cable_reversed) needed for Trial 3 (SC plug insertion into SC port).

In Gazebo, the cable type is easily switched via the cable_type launch argument (sfp_sc_cable vs sfp_sc_cable_reversed), but there is no corresponding mechanism in the Isaac Lab environment.

Request

Could the NVIDIA team provide an aic_unified_robot_cable_reversed.usd (or equivalent) where the SC plug end is attached to the gripper, matching the Gazebo sfp_sc_cable_reversed configuration?
Alternatively, documentation on how to properly generate a reversed cable USD from the existing assets would also be helpful.

Context

• docs/qualification_phase.md describes Trial 3 requiring SC plug insertion with sfp_sc_cable_reversed
• docs/scene_description.md documents cable_type:=sfp_sc_cable_reversed for Gazebo
• The Isaac Lab README and asset pack only reference aic_unified_robot_cable_sdf.usd (SFP configuration)
• Attempting to create a reversed USD by modifying FixedJoint connections has proven difficult due to differences in plug geometry and physics constraint parameters

Setup method

Docker + Distrobox + Pixi (recommended)

OS

Ubuntu22.04

System specs

Environment

System

• CPU: Intel Xeon w5-2465X (16 cores / 32 threads, up to 4.7 GHz)
• RAM: 125 GB
• GPU: 3 × NVIDIA RTX 6000 Ada Generation
• Driver Version: 580.126.09
• CUDA Version: 13.0

GPU details

• GPU 0: NVIDIA RTX 6000 Ada Generation, 49140 MiB VRAM
• GPU 1: NVIDIA RTX 6000 Ada Generation, 49140 MiB VRAM
• GPU 2: NVIDIA RTX 6000 Ada Generation, 49140 MiB VRAM

Current nvidia-smi status

• GPUs are detected correctly.
• Display server (Xorg) is attached to all three GPUs.
• yelp is running on GPU 0.
• No active compute workload was running at the time of capture.

+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 580.126.09             Driver Version: 580.126.09     CUDA Version: 13.0     |
+-----------------------------------------+------------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
|                                         |                        |               MIG M. |
|=========================================+========================+======================|
|   0  NVIDIA RTX 6000 Ada Gene...    Off |   00000000:17:00.0 Off |                  Off |
| 30%   45C    P8             23W /  300W |      36MiB /  49140MiB |      0%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------+------------------------+----------------------+
|   1  NVIDIA RTX 6000 Ada Gene...    Off |   00000000:4E:00.0 Off |                  Off |
| 30%   51C    P8             31W /  300W |      16MiB /  49140MiB |      0%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------+------------------------+----------------------+
|   2  NVIDIA RTX 6000 Ada Gene...    Off |   00000000:85:00.0 Off |                  Off |
| 30%   40C    P8             26W /  300W |      16MiB /  49140MiB |      0%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------------------------------------------------------+

### Steps to reproduce

1. Download the Isaac Lab asset pack from the README instructions:                                                                                 
     https://developer.nvidia.com/downloads/Omniverse/learning/Events/Hackathons/Intrinsic_assets.zip                                                
                                                                                                                                                     
2. The asset pack contains only `aic_unified_robot_cable_sdf.usd` (SFP module end attached to gripper).                                            
                                                                                                                                                     
3. There is no equivalent USD for `sfp_sc_cable_reversed` (SC plug end attached to gripper) needed for Trial 3.                                    
                                                                  
4. In Gazebo, cable type is switched via launch argument:                                                                                          
   ros2 launch aic_bringup aic_gz_bringup.launch.py cable_type:=sfp_sc_cable_reversed
                                                                                                                                                     
5. No corresponding mechanism exists in the Isaac Lab environment to switch the cable configuration.                                               
                                                                                                                                                     
6. Attempted to create a reversed USD by modifying FixedJoint connections in the existing USD using the Pixar USD Python API, but the SC plug does  not attach to the gripper correctly due to differences in plug geometry and physics constraint parameters between sfp_module_visual and sc_plug_visual.  

### Relevant log output

```shell

Additional context

No response

[AjinJayan]

Hi. Has anyone found a way to load the usd file with sfp_sc_cable_reversed configuration. I could not find a way in which i could load the cable for trail 3 configuration.

Facing a problem in loading the reversed cable configuration in isaac lab. Any leads would be helpful.