[Proposal] Integrate AI2-THOR Scenes as USD Files for Use in IsaacLab

[makolon]

Proposal

Convert AI2-THOR scenes to USD files and ensure they can be loaded into IsaacLab. This feature aims to leverage AI2-THOR scenes, which are used by ManiSkill3, for navigation and manipulation tasks in IsaacLab.

Motivation

The primary motivation for this proposal is to enable the use of AI2-THOR scenes within IsaacLab, allowing for more realistic and diverse simulation environments. By converting these scenes to USD format and ensuring compatibility with IsaacLab, we can expand the variety of available scenes for manipulation tasks. This aligns with ManiSkill3's usage of AI2-THOR scenes, which could serve as a helpful reference for implementation.

Alternatives

Alternatively, we could design new scenes manually within IsaacLab. However, this approach would be more time-consuming and might lack the richness and variety of scenes available in AI2-THOR.

Additional context

To confirm the successful conversion, the USD files should be loaded into Isaac Sim to verify scene accuracy. Additionally, Python scripts should be tested to ensure that scenes can be loaded and utilized within IsaacLab.

Checklist

• I have checked that there is no similar issue in the repo (required)

Acceptance Criteria

• Successful conversion of AI2-THOR scenes to USD format.
• Verification that the USD scenes can be loaded into Isaac Sim and accurately represent the original scenes.
• Ensure that the scenes can be accessed and used within IsaacLab via Python scripts.