Move gr00t to arena_gr00t (#111)

## Summary
Refactor gr00t to arena_gr00t

## Detailed description
- GR00T policy related -- replay lerobot, closedloop related tools are
in `arena_gr00t`
- hdf5->lerobot related are under `policy/data_utils` as they are more
general to Lerobot than GR00T. GR00T just takes the lerobot format and
uses in their infra.

Author: xyao-nv

isaac_arena/policy/gr00t/data_config.py isaac_arena/arena_gr00t/data_config.pyisaac_arena/policy/gr00t/data_config.py renamed to isaac_arena/arena_gr00t/data_config.py

@@ -15,7 +15,7 @@
 """
 External data configuration module for UnitreeG1 WBC simulation.
 This module can be loaded as an external config using:
-isaac_arena.policy.gr00t.data_config:UnitreeG1SimWBCDataConfig
+isaac_arena.arena_gr00t.data_config:UnitreeG1SimWBCDataConfig
 """
 from gr00t.data.dataset import ModalityConfig
 from gr00t.data.transform.base import ComposedModalityTransform, ModalityTransform
@@ -38,7 +38,7 @@ class UnitreeG1SimWBCDataConfig(BaseDataConfig):
 
     Usage:
         Can be loaded as external config with:
-        isaac_arena.policy.gr00t.data_config:UnitreeG1SimWBCDataConfig
+        isaac_arena.arena_gr00t.data_config:UnitreeG1SimWBCDataConfig
     """
 
     video_keys = ["video.ego_view"]

…1_locomanip_gr00t_closedloop_config.yaml …1_locomanip_gr00t_closedloop_config.yamlisaac_arena/policy/gr00t/g1_locomanip_gr00t_closedloop_config.yaml renamed to isaac_arena/arena_gr00t/g1_locomanip_gr00t_closedloop_config.yaml isaac_arena/policy/gr00t/g1_locomanip_gr00t_closedloop_config.yaml renamed to isaac_arena/arena_gr00t/g1_locomanip_gr00t_closedloop_config.yaml

@@ -21,14 +21,14 @@
 from gr00t.experiment.data_config import DATA_CONFIG_MAP, load_data_config
 from gr00t.model.policy import Gr00tPolicy
 
+from isaac_arena.arena_gr00t.policy_config import Gr00tClosedloopPolicyConfig, TaskMode
 from isaac_arena.policy.data_utils.image_conversion import resize_frames_with_padding
 from isaac_arena.policy.data_utils.io_utils import create_config_from_yaml, load_robot_joints_config_from_yaml
 from isaac_arena.policy.data_utils.joints_conversion import (
     remap_policy_joints_to_sim_joints,
     remap_sim_joints_to_policy_joints,
 )
 from isaac_arena.policy.data_utils.robot_joints import JointsAbsPosition
-from isaac_arena.policy.gr00t.policy_config import Gr00tClosedloopPolicyConfig, TaskMode
 from isaac_arena.policy.policy_base import PolicyBase
 
 
@@ -76,7 +76,7 @@ def load_policy(self) -> Gr00tPolicy:
         if self.policy_config.data_config in DATA_CONFIG_MAP:
             self.data_config = DATA_CONFIG_MAP[self.policy_config.data_config]
         elif self.policy_config.data_config == "unitree_g1_sim_wbc":
-            self.data_config = load_data_config("isaac_arena.policy.gr00t.data_config:UnitreeG1SimWBCDataConfig")
+            self.data_config = load_data_config("isaac_arena.arena_gr00t.data_config:UnitreeG1SimWBCDataConfig")
         else:
             raise ValueError(f"Invalid data config: {self.policy_config.data_config}")
 

…t/g1_locomanip_replay_action_config.yaml …t/g1_locomanip_replay_action_config.yamlisaac_arena/policy/gr00t/g1_locomanip_replay_action_config.yaml renamed to isaac_arena/arena_gr00t/g1_locomanip_replay_action_config.yaml isaac_arena/policy/gr00t/g1_locomanip_replay_action_config.yaml renamed to isaac_arena/arena_gr00t/g1_locomanip_replay_action_config.yaml

@@ -22,9 +22,9 @@
 from gr00t.data.dataset import LeRobotSingleDataset
 from gr00t.experiment.data_config import DATA_CONFIG_MAP, load_data_config
 
+from isaac_arena.arena_gr00t.policy_config import LerobotReplayActionPolicyConfig, TaskMode
 from isaac_arena.policy.data_utils.io_utils import create_config_from_yaml, load_robot_joints_config_from_yaml
 from isaac_arena.policy.data_utils.joints_conversion import remap_policy_joints_to_sim_joints
-from isaac_arena.policy.gr00t.policy_config import LerobotReplayActionPolicyConfig, TaskMode
 from isaac_arena.policy.policy_base import PolicyBase
 
 
@@ -68,7 +68,7 @@ def load_policy(self, policy_config: LerobotReplayActionPolicyConfig) -> LeRobot
         if policy_config.data_config in DATA_CONFIG_MAP:
             self.data_config = DATA_CONFIG_MAP[policy_config.data_config]
         elif policy_config.data_config == "unitree_g1_sim_wbc":
-            self.data_config = load_data_config("isaac_arena.policy.gr00t.data_config:UnitreeG1SimWBCDataConfig")
+            self.data_config = load_data_config("isaac_arena.arena_gr00t.data_config:UnitreeG1SimWBCDataConfig")
         else:
             raise ValueError(f"Invalid data config: {policy_config.data_config}")
 

…/policy/gr00t/gr00t_closedloop_policy.py …a/arena_gr00t/gr00t_closedloop_policy.pyisaac_arena/policy/gr00t/gr00t_closedloop_policy.py renamed to isaac_arena/arena_gr00t/gr00t_closedloop_policy.py isaac_arena/policy/gr00t/gr00t_closedloop_policy.py renamed to isaac_arena/arena_gr00t/gr00t_closedloop_policy.py

@@ -127,7 +127,7 @@ def create_policy(args: argparse.Namespace) -> tuple[PolicyBase, int]:
         # NOTE(xinjie.yao, 2025-09-28): lazy import to prevent app stalling
         # due to import GR00T py dependencies that are conflicting with omni.kit
         # see functional import sequence here https://github.com/isaac-sim/IsaacLabEvalTasks/blob/main/scripts/evaluate_gn1.py#L38
-        from isaac_arena.policy.gr00t.replay_lerobot_action_policy import ReplayLerobotActionPolicy
+        from isaac_arena.arena_gr00t.replay_lerobot_action_policy import ReplayLerobotActionPolicy
 
         policy = ReplayLerobotActionPolicy(
             args.config_yaml_path, num_envs=args.num_envs, device=args.device, trajectory_index=args.trajectory_index
@@ -139,7 +139,7 @@ def create_policy(args: argparse.Namespace) -> tuple[PolicyBase, int]:
             num_steps = policy.get_trajectory_length(policy.get_trajectory_index())
 
     elif args.policy_type == "gr00t_closedloop":
-        from isaac_arena.policy.gr00t.gr00t_closedloop_policy import Gr00tClosedloopPolicy
+        from isaac_arena.arena_gr00t.gr00t_closedloop_policy import Gr00tClosedloopPolicy
 
         policy = Gr00tClosedloopPolicy(args.policy_config_yaml_path, num_envs=args.num_envs, device=args.device)
         num_steps = args.num_steps

…t/gr1_manip_gr00t_closedloop_config.yaml …t/gr1_manip_gr00t_closedloop_config.yamlisaac_arena/policy/gr00t/gr1_manip_gr00t_closedloop_config.yaml renamed to isaac_arena/arena_gr00t/gr1_manip_gr00t_closedloop_config.yaml isaac_arena/policy/gr00t/gr1_manip_gr00t_closedloop_config.yaml renamed to isaac_arena/arena_gr00t/gr1_manip_gr00t_closedloop_config.yaml

@@ -331,7 +331,7 @@ def convert_trajectory_to_df(
     return_dict = {}
     data = {}
 
-    gr00t_modality_config = load_json(config.modality_template_path)
+    policy_modality_config = load_json(config.modality_template_path)
 
     policy_joints_config = load_robot_joints_config_from_yaml(config.policy_joints_config_path)
     action_joints_config = load_robot_joints_config_from_yaml(config.action_joints_config_path)
@@ -373,7 +373,7 @@ def convert_trajectory_to_df(
 
         # 1.2. Fill in the missing joints with zeros
         ordered_joints = []
-        for joint_group in gr00t_modality_config[key].keys():
+        for joint_group in policy_modality_config[key].keys():
             # NOTE(xinjieyao, 2025-09-25): Those are not joint position commands, which do not need remapping orders
             if (
                 joint_group == "left_wrist_pose"
@@ -384,7 +384,7 @@ def convert_trajectory_to_df(
             ):
                 continue
             num_joints = (
-                gr00t_modality_config[key][joint_group]["end"] - gr00t_modality_config[key][joint_group]["start"]
+                policy_modality_config[key][joint_group]["end"] - policy_modality_config[key][joint_group]["start"]
             )
 
             if joint_group not in remapped_joints.keys():