Updates Agile policy checkpoint path to Nucleus (#3661)

# Description

Updating Agile policy checkpoint path to point to the copy hosted in
public server that is now available with the license approvals.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Author: michaellin6

source/isaaclab/test/controllers/test_controller_utils.py

@@ -21,7 +21,7 @@
 import pytest
 
 from isaaclab.controllers.utils import change_revolute_to_fixed, change_revolute_to_fixed_regex
-from isaaclab.utils.assets import retrieve_file_path
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 from isaaclab.utils.io.torchscript import load_torchscript_model
 
 
@@ -503,7 +503,7 @@ def test_regex_special_characters(test_urdf_file, mock_urdf_content):
 @pytest.fixture
 def policy_model_path():
     """Path to the test TorchScript model."""
-    _policy_path = "omniverse://isaac-dev.ov.nvidia.com/Projects/agile/policy_checkpoints/agile_locomotion.pt"
+    _policy_path = f"{ISAACLAB_NUCLEUS_DIR}/Policies/Agile/agile_locomotion.pt"
     return retrieve_file_path(_policy_path)
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py

@@ -100,7 +100,7 @@ class ActionsCfg:
         ],
         policy_output_scale=0.25,
         obs_group_name="lower_body_policy",  # need to be the same name as the on in ObservationCfg
-        policy_path="omniverse://isaac-dev.ov.nvidia.com/Projects/agile/policy_checkpoints/agile_locomotion.pt",
+        policy_path=f"{ISAACLAB_NUCLEUS_DIR}/Policies/Agile/agile_locomotion.pt",
     )