[NEWTON] Replaces omni.client with isaaclab implementation of client

docs/conf.py

@@ -128,6 +128,8 @@
 
 # Mock out modules that are not available on RTD
 autodoc_mock_imports = [
+    "boto3",
+    "botocore",
     "torch",
     "torchvision",
     "numpy",

source/isaaclab/isaaclab/sim/utils/nucleus.py

@@ -0,0 +1,74 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import logging
+
+import carb
+
+from isaaclab.utils import client
+
+logger = logging.getLogger(__name__)
+
+DEFAULT_ASSET_ROOT_PATH_SETTING = "/persistent/isaac/asset_root/default"
+DEFAULT_ASSET_ROOT_TIMEOUT_SETTING = "/persistent/isaac/asset_root/timeout"
+
+
+def check_server(server: str, path: str, timeout: float = 10.0) -> bool:
+    """Check a specific server for a path
+
+    Args:
+        server (str): Name of Nucleus server
+        path (str): Path to search
+        timeout (float): Default value: 10 seconds
+
+    Returns:
+        bool: True if folder is found
+    """
+    logger.info(f"Checking path: {server}{path}")
+    result, _ = client.stat(f"{server}{path}")
+    if result == client.Result.OK:
+        logger.info(f"Success: {server}{path}")
+        return True
+    else:
+        logger.info(f"Failure: {server}{path} not accessible")
+        return False
+
+
+def get_assets_root_path(*, skip_check: bool = False) -> str:
+    """Tries to find the root path to the Isaac Sim assets on a Nucleus server
+
+    Args:
+        skip_check (bool): If True, skip the checking step to verify that the resolved path exists.
+
+    Raises:
+        RuntimeError: if the root path setting is not set.
+        RuntimeError: if the root path is not found.
+
+    Returns:
+        url (str): URL of Nucleus server with root path to assets folder.
+    """
+
+    # get timeout
+    timeout = carb.settings.get_settings().get(DEFAULT_ASSET_ROOT_TIMEOUT_SETTING)
+    if not isinstance(timeout, (int, float)):
+        timeout = 10.0
+
+    # resolve path
+    logger.info(f"Check {DEFAULT_ASSET_ROOT_PATH_SETTING} setting")
+    default_asset_root = carb.settings.get_settings().get(DEFAULT_ASSET_ROOT_PATH_SETTING)
+    if not default_asset_root:
+        raise RuntimeError(f"The '{DEFAULT_ASSET_ROOT_PATH_SETTING}' setting is not set")
+    if skip_check:
+        return default_asset_root
+
+    # check path
+    result = check_server(default_asset_root, "/Isaac", timeout)
+    if result:
+        result = check_server(default_asset_root, "/NVIDIA", timeout)
+        if result:
+            logger.info(f"Assets root found at {default_asset_root}")
+            return default_asset_root
+
+    raise RuntimeError(f"Could not find assets root folder: {default_asset_root}")

source/isaaclab/isaaclab/sim/utils/stage.py

@@ -491,10 +491,10 @@ def add_reference_to_stage(usd_path: str, prim_path: str, prim_type: str = "Xfor
 
     # Download remote files to local cache
     if file_status == 2:
-        logger.info(f"Downloading remote USD file: {original_usd_path}")
+        logger.debug(f"Downloading remote USD file: {original_usd_path}")
         try:
             usd_path = retrieve_file_path(usd_path, force_download=False)
-            logger.info(f"  Downloaded to: {usd_path}")
+            logger.debug(f"  Downloaded to: {usd_path}")
         except Exception as e:
             raise FileNotFoundError(f"Failed to download USD file from {original_usd_path}: {e}")