Fix agentic asset defaults

[qianl-nv]

Summary

Fix agentic asset defaults

Detailed description

• Switched agent embodiment preference from ik to default.
• Moved the DROID default tag to droid_abs_joint_pos.
• Removed redundant object-library initializers so instance names propagate.
• Added prompt guidance for identifier-safe generated node ids.

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

Focused cleanup + fix for the agentic environment-generation defaults. Most of the diff is safe reduction: the removed __init__ overrides that only forwarded to super() are genuinely redundant, the removed object_type = ObjectType.RIGID lines match the LibraryObject base default, and the removed default_prim_path class attributes are dead (never read — prim paths come from the prim_path arg or the name-based default in ObjectBase.__init__). The real behavioral fix is that RedCube/GreenCube/RedContainer/GreenContainer no longer shadow the base __init__ (their old override dropped instance_name), so instance names now propagate. Two things worth a look: the DROID default control mode now diverges from the other families, and the propagation fix ships without a regression test.

Findings

🟡 Warning: isaaclab_arena/embodiments/droid/droid.py:141 — see inline comment (DROID default now diverges from the other families).

Test Coverage

The tag rename is well covered — test_asset_matcher.py updates the embodiment cases to the ["embodiment", "default"] pool and still asserts franka_joint_pos resolves by exact match ahead of the narrowed pool.

What's missing: the object-library fix (RedCube/GreenCube/RedContainer/GreenContainer now accepting instance_name) has no regression test. Before this PR those classes' __init__ signatures omitted instance_name, so RedCube(instance_name="foo") would have raised TypeError; now it should propagate. A one-liner would guard against the override creeping back — e.g. assert RedCube(instance_name="my_cube").name == "my_cube". Could we add that for at least one of the four?

Verdict

Minor fixes needed

[greptile-apps]

Greptile Summary

This PR replaces the "ik" embodiment-matching tag with "default" across all robot families and updates the intent compiler and prompt guidance accordingly. It also removes redundant __init__ overrides from object_library.py so that instance_name propagates correctly to instances.

• Tag migration (ik → default): FrankaIKEmbodiment, G1WBCPinkEmbodiment, GR1T2PinkEmbodiment each have their tag renamed. For DROID the default shifts from DroidDifferentialIKEmbodiment to DroidAbsoluteJointPositionEmbodiment, and IntentCompiler now passes preferred_tags=["default"] when resolving embodiments.
• object_library.py cleanup: Nine classes lost their redundant __init__ methods (which simply forwarded unchanged kwargs to LibraryObject.__init__), and several dead class attributes (object_type = ObjectType.RIGID, default_prim_path) were removed; all have safe defaults in the parent.
• Prompt guidance: A new instruction nudges the LLM to emit underscore-connected identifiers for query/instance names so generated node IDs are valid Python identifiers.

Confidence Score: 4/5

Safe to merge; all changes are internally consistent and the tag rename is applied uniformly across every robot family.

The DROID default is silently flipped from IK control to absolute joint-position control, which is a meaningful behavior change for any agent that queries "droid" by bare family name. The existing test suite only exercises the "franka" bare-family path; there is no test pinning "droid" → "droid_abs_joint_pos", so a future regression could go undetected. The object_library.py cleanups are safe (parent defaults are identical), and the prompt-guidance addition is low-risk.

isaaclab_arena/embodiments/droid/droid.py (tag ownership change) and isaaclab_arena/tests/test_asset_matcher.py (missing DROID resolution test).

Important Files Changed

Filename	Overview
isaaclab_arena/agentic_environment_generation/intent_compiler.py	Changed preferred_tags from ["ik"] to ["default"] when resolving embodiment assets; logic is consistent with the tag rename across all embodiment files.
isaaclab_arena/embodiments/droid/droid.py	Moved "default" tag from DroidDifferentialIKEmbodiment to DroidAbsoluteJointPositionEmbodiment, changing which DROID variant is selected by bare-family queries; DroidDifferentialIKEmbodiment now inherits the shared mutable tags list from EmbodimentBase rather than having its own.
isaaclab_arena/assets/object_library.py	Removed redundant init overrides that merely forwarded to LibraryObject.init, allowing instance_name to propagate; also removed unused default_prim_path and redundant object_type=ObjectType.RIGID class attributes (already the default in LibraryObject).
isaaclab_arena/agentic_environment_generation/environment_generation_agent.py	Added prompt guidance instructing the LLM to use underscore_connected identifiers for queries and instance_names so node ids are valid Python identifiers.
isaaclab_arena/tests/test_asset_matcher.py	Tests updated from "ik" to "default" tag throughout; covers franka bare-family resolution but no test was added for the DROID bare-family change (droid → droid_abs_joint_pos).

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["Agent emits bare family name\n(e.g. 'franka', 'droid', 'g1', 'gr1')"] --> B["IntentCompiler._resolve_asset_node\nrequired_tags=['embodiment']\npreferred_tags=['default']"]
    B --> C{"Exact match\nin registry?"}
    C -- Yes --> D["Return exact asset\n(e.g. 'franka_joint_pos')"]
    C -- No --> E["Filter by required_tags=['embodiment']\nAND preferred_tags=['default']"]
    E --> F{"Substring / fuzzy match\nin preferred pool?"}
    F -- Yes --> G["Return default-tagged variant"]
    F -- No --> H["Fall back to required-tag pool\nfuzzy match"]
    H --> I{"Match found?"}
    I -- Yes --> J["Return match"]
    I -- No --> K["Record miss trace"]

    G --> G1["franka → franka_ik\n(tags: embodiment, default)"]
    G --> G2["droid → droid_abs_joint_pos\n(tags: embodiment, default)\nWAS: droid_differential_ik"]
    G --> G3["g1 → g1_wbc_pink\n(tags: embodiment, default)"]
    G --> G4["gr1 → gr1_pink\n(tags: embodiment, default)"]

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%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
flowchart TD
    A["Agent emits bare family name\n(e.g. 'franka', 'droid', 'g1', 'gr1')"] --> B["IntentCompiler._resolve_asset_node\nrequired_tags=['embodiment']\npreferred_tags=['default']"]
    B --> C{"Exact match\nin registry?"}
    C -- Yes --> D["Return exact asset\n(e.g. 'franka_joint_pos')"]
    C -- No --> E["Filter by required_tags=['embodiment']\nAND preferred_tags=['default']"]
    E --> F{"Substring / fuzzy match\nin preferred pool?"}
    F -- Yes --> G["Return default-tagged variant"]
    F -- No --> H["Fall back to required-tag pool\nfuzzy match"]
    H --> I{"Match found?"}
    I -- Yes --> J["Return match"]
    I -- No --> K["Record miss trace"]

    G --> G1["franka → franka_ik\n(tags: embodiment, default)"]
    G --> G2["droid → droid_abs_joint_pos\n(tags: embodiment, default)\nWAS: droid_differential_ik"]
    G --> G3["g1 → g1_wbc_pink\n(tags: embodiment, default)"]
    G --> G4["gr1 → gr1_pink\n(tags: embodiment, default)"]

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Comments Outside Diff (1)

1. isaaclab_arena/tests/test_asset_matcher.py, line 113-127 (link)

   Missing test for DROID bare-family resolution

   The test suite validates that "franka" resolves to "franka_ik" (the default-tagged variant), but there is no analogous test for the DROID family. This PR explicitly moves the default tag from DroidDifferentialIKEmbodiment to DroidAbsoluteJointPositionEmbodiment, making "droid" → "droid_abs_joint_pos" the new expected resolution. Adding a test_embodiment_droid_default_for_bare_family case — mirroring test_embodiment_default_for_bare_family but seeded with FakeAsset("droid_abs_joint_pos", ["embodiment", "default"]) and FakeAsset("droid_differential_ik", ["embodiment"]) — would pin this behavior and guard against the default accidentally reverting.

   Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

_{Reviews (1): Last reviewed commit: "Use default tag for agent embodiment sel..." | Re-trigger Greptile}

[alexmillane]

LGTM