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Unify Isaac Lab assets with Isaac Sim #4301

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b24edab
update anymal, unitree, cartpole, cassie paths
stevfeng Mar 10, 2025
383adfb
use internal path, update unitree
stevfeng Aug 19, 2025
dc1c1f3
update robot paths
matthewtrepte Dec 29, 2025
84f6b14
format code
stevfeng Aug 20, 2025
cadb828
update cassie to use temp asset for testing before we merge it in
stevfeng Sep 19, 2025
a6f303d
revert cassie path
stevfeng Sep 30, 2025
0b22645
update asset path to staging server
stevfeng Oct 2, 2025
adb8286
update path for the usd test
stevfeng Nov 13, 2025
3f0decf
Fix remaining path inconsistencies and remove unused imports
matthewtrepte Dec 29, 2025
b0cd153
update cartpole path
matthewtrepte Jan 5, 2026
06f641f
change gl_29dof
matthewtrepte Jan 8, 2026
c94d81d
Merge branch 'main' into mtrepte/unify_assets
matthewtrepte Jan 8, 2026
9c8d980
include recent update to assets
matthewtrepte Jan 9, 2026
f47918b
update usd variants for G1 (for feedback)
matthewtrepte Jan 12, 2026
c79a829
updating g1 asset paths
matthewtrepte Jan 12, 2026
672a1b3
clean up, revert g1/h1 assets
matthewtrepte Jan 14, 2026
8fc7e7a
merge
matthewtrepte Jan 15, 2026
543de41
formatting
matthewtrepte Jan 15, 2026
e1c4320
cfg for final train benchmark
matthewtrepte Jan 20, 2026
85e0165
Merge remote-tracking branch 'upstream/develop' into mtrepte/unify_as…
matthewtrepte Jan 20, 2026
b5c32fb
revert go2 asset to public one
matthewtrepte Jan 20, 2026
3907b6f
update agibot path
matthewtrepte Jan 21, 2026
51a5559
Merge branch 'develop' into mtrepte/unify_assets
matthewtrepte Jan 26, 2026
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -85,6 +85,7 @@ Guidelines for modifications:
* Jan Kerner
* Jean Tampon
* Jeonghwan Kim
* Ji Yuan (Steven) Feng
* Jia Lin Yuan
* Jiakai Zhang
* Jinghuan Shang
Expand Down
4 changes: 2 additions & 2 deletions scripts/demos/markers.py
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Expand Up @@ -36,7 +36,7 @@
import isaaclab.sim as sim_utils
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
from isaaclab.sim import SimulationContext
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
from isaaclab.utils.math import quat_from_angle_axis


Expand Down Expand Up @@ -82,7 +82,7 @@ def define_markers() -> VisualizationMarkers:
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.25, 0.0)),
),
"robot_mesh": sim_utils.UsdFileCfg(
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
scale=(2.0, 2.0, 2.0),
visual_material=sim_utils.GlassMdlCfg(glass_color=(0.0, 0.1, 0.0)),
),
Expand Down
6 changes: 3 additions & 3 deletions scripts/demos/multi_asset.py
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Expand Up @@ -53,7 +53,7 @@
from isaaclab.sim import SimulationContext
from isaaclab.sim.utils.stage import get_current_stage
from isaaclab.utils import Timer, configclass
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

##
# Pre-defined Configuration
Expand Down Expand Up @@ -183,8 +183,8 @@ class MultiObjectSceneCfg(InteractiveSceneCfg):
prim_path="/World/envs/env_.*/Robot",
spawn=sim_utils.MultiUsdFileCfg(
usd_path=[
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_d/anymal_d.usd",
],
random_choice=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
Expand Down
8 changes: 4 additions & 4 deletions source/isaaclab/isaaclab/sim/spawners/__init__.py
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Expand Up @@ -16,10 +16,10 @@
.. code-block:: python

import isaaclab.sim as sim_utils
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

# spawn from USD file
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd")
prim_path = "/World/myAsset"

# spawn using the function from the module
Expand All @@ -30,10 +30,10 @@
.. code-block:: python

import isaaclab.sim as sim_utils
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

# spawn from USD file
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd")
prim_path = "/World/myAsset"

# use the `func` reference in the config class
Expand Down
1 change: 1 addition & 0 deletions source/isaaclab/isaaclab/utils/assets.py
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Expand Up @@ -28,6 +28,7 @@
logger = logging.getLogger(__name__)

NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")

"""Path to the root directory on the Nucleus Server."""

NVIDIA_NUCLEUS_DIR = f"{NUCLEUS_ASSET_ROOT_DIR}/NVIDIA"
Expand Down
6 changes: 1 addition & 5 deletions source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py
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Expand Up @@ -61,10 +61,6 @@
ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac"
"""Path to the `Isaac` directory on the NVIDIA Nucleus Server."""

ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab"
"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server."""


"""
Main
"""
Expand All @@ -90,7 +86,7 @@ def main():
prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
# -- Robot
# resolve asset
usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
root_prim_path = "/World/Robot/base"
# add asset
print("Loading robot from: ", usd_path)
Expand Down
8 changes: 1 addition & 7 deletions source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py
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Expand Up @@ -68,9 +68,6 @@
ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac"
"""Path to the `Isaac` directory on the NVIDIA Nucleus Server."""

ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab"
"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server."""


"""
Main
Expand Down Expand Up @@ -104,10 +101,7 @@ def main():
prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
# -- Robot
# resolve asset
if args_cli.asset == "isaaclab":
usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
root_prim_path = "/World/envs/env_.*/Robot/base"
elif args_cli.asset == "oige":
if args_cli.asset == "isaaclab" or args_cli.asset == "oige":
usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
root_prim_path = "/World/envs/env_.*/Robot"
elif os.path.exists(args_cli.asset):
Expand Down
5 changes: 1 addition & 4 deletions source/isaaclab/test/deps/isaacsim/check_ref_count.py
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Expand Up @@ -61,9 +61,6 @@
ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac"
"""Path to the `Isaac` directory on the NVIDIA Nucleus Server."""

ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab"
"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server."""


"""
Classes
Expand All @@ -76,7 +73,7 @@ class AnymalArticulation:
def __init__(self):
"""Initialize the Anymal articulation class."""
# resolve asset
usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
# add asset
print("Loading robot from: ", usd_path)
prim_utils.create_prim("/World/Robot", usd_path=usd_path, translation=(0.0, 0.0, 0.6))
Expand Down
8 changes: 4 additions & 4 deletions source/isaaclab/test/sim/test_simulation_stage_in_memory.py
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Expand Up @@ -26,7 +26,7 @@

import isaaclab.sim as sim_utils
from isaaclab.sim.simulation_context import SimulationCfg, SimulationContext
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.version import get_isaac_sim_version


Expand Down Expand Up @@ -146,8 +146,8 @@ def test_stage_in_memory_with_usds(sim):
# define parameters
num_clones = 10
usd_paths = [
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_d/anymal_d.usd",
]

# grab stage in memory and set as current stage via the with statement
Expand Down Expand Up @@ -209,7 +209,7 @@ def test_stage_in_memory_with_clone_in_fabric(sim):
pytest.skip("Stage in memory is not supported in this version of Isaac Sim")

# define parameters
usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
num_clones = 100

# grab stage in memory and set as current stage via the with statement
Expand Down
8 changes: 5 additions & 3 deletions source/isaaclab/test/sim/test_spawn_from_files.py
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Expand Up @@ -19,7 +19,7 @@
from isaacsim.core.api.simulation_context import SimulationContext

import isaaclab.sim as sim_utils
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.version import get_isaac_sim_version


Expand Down Expand Up @@ -48,7 +48,7 @@ def sim():
def test_spawn_usd(sim):
"""Test loading prim from Usd file."""
# Spawn cone
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd")
prim = cfg.func("/World/Franka", cfg)
# Check validity
assert prim.IsValid()
Expand All @@ -60,7 +60,9 @@ def test_spawn_usd(sim):
def test_spawn_usd_fails(sim):
"""Test loading prim from Usd file fails when asset usd path is invalid."""
# Spawn cone
cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda2_instanceable.usd")
cfg = sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda2_instanceable.usd"
)

with pytest.raises(FileNotFoundError):
cfg.func("/World/Franka", cfg)
Expand Down
6 changes: 3 additions & 3 deletions source/isaaclab/test/sim/test_spawn_wrappers.py
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Expand Up @@ -18,7 +18,7 @@
from isaacsim.core.api.simulation_context import SimulationContext

import isaaclab.sim as sim_utils
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR


@pytest.fixture
Expand Down Expand Up @@ -136,8 +136,8 @@ def test_spawn_multiple_files_with_global_settings(sim):

cfg = sim_utils.MultiUsdFileCfg(
usd_path=[
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_d/anymal_d.usd",
],
random_choice=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
Expand Down
10 changes: 5 additions & 5 deletions source/isaaclab/test/sim/test_utils_prims.py
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Expand Up @@ -23,7 +23,7 @@

import isaaclab.sim as sim_utils
from isaaclab.sim.utils.prims import _to_tuple # type: ignore[reportPrivateUsage]
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR


@pytest.fixture(autouse=True)
Expand Down Expand Up @@ -76,7 +76,7 @@ def test_create_prim():
assert prim.GetAttribute("size").Get() == 100

# check adding USD reference
franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
franka_usd = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
prim = sim_utils.create_prim("/World/Test/USDReference", usd_path=franka_usd, stage=stage)
# check USD reference set
assert prim.IsValid()
Expand Down Expand Up @@ -319,7 +319,7 @@ def test_delete_prim():
# check for usd reference
prim = sim_utils.create_prim(
"/World/Test/USDReference",
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
stage=stage,
)
# delete prim
Expand All @@ -345,7 +345,7 @@ def test_move_prim():
prim = sim_utils.create_prim(
"/World/Test/Xform",
"Xform",
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
translation=(1.0, 2.0, 3.0),
orientation=(0.0, 0.0, 0.0, 1.0),
stage=stage,
Expand Down Expand Up @@ -392,7 +392,7 @@ def test_get_usd_references():
assert len(refs) == 0

# Create a prim with a USD reference
franka_usd = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
franka_usd = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
sim_utils.create_prim("/World/WithReference", usd_path=franka_usd, stage=stage)
# Check that it has the expected reference
refs = sim_utils.get_usd_references("/World/WithReference", stage=stage)
Expand Down
24 changes: 17 additions & 7 deletions source/isaaclab/test/sim/test_utils_queries.py
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Expand Up @@ -18,7 +18,7 @@
from pxr import UsdPhysics

import isaaclab.sim as sim_utils
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR


@pytest.fixture(autouse=True)
Expand Down Expand Up @@ -98,7 +98,9 @@ def test_get_all_matching_child_prims():
# note: isaac sim function does not support instanced prims so we add it here
# after the above test for the above test to still pass.
sim_utils.create_prim(
"/World/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
"/World/Franka",
"Xform",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
)

# test with predicate
Expand All @@ -123,13 +125,19 @@ def test_get_first_matching_child_prim():
# create scene
sim_utils.create_prim("/World/Floor")
sim_utils.create_prim(
"/World/env_1/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
"/World/env_1/Franka",
"Xform",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
)
sim_utils.create_prim(
"/World/env_2/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
"/World/env_2/Franka",
"Xform",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
)
sim_utils.create_prim(
"/World/env_0/Franka", "Xform", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
"/World/env_0/Franka",
"Xform",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd",
)

# test
Expand All @@ -151,8 +159,10 @@ def test_find_global_fixed_joint_prim():
"""Test find_global_fixed_joint_prim() function."""
# create scene
sim_utils.create_prim("/World")
sim_utils.create_prim("/World/ANYmal", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd")
sim_utils.create_prim("/World/Franka", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
sim_utils.create_prim("/World/ANYmal", usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd")
sim_utils.create_prim(
"/World/Franka", usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd"
)
if "4.5" in ISAAC_NUCLEUS_DIR:
franka_usd = f"{ISAAC_NUCLEUS_DIR}/Robots/Franka/franka.usd"
else:
Expand Down
8 changes: 4 additions & 4 deletions source/isaaclab/test/utils/test_assets.py
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Expand Up @@ -26,27 +26,27 @@ def test_nucleus_connection():
def test_check_file_path_nucleus():
"""Test checking a file path on the Nucleus server."""
# robot file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd"
# check file path
assert assets_utils.check_file_path(usd_path) == 2


def test_check_file_path_invalid():
"""Test checking an invalid file path."""
# robot file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd"
usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_xyz.usd"
# check file path
assert assets_utils.check_file_path(usd_path) == 0


def test_check_usd_path_with_timeout():
"""Test checking a USD path with timeout."""
# robot file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_instanceable.usd"
# check file path
assert assets_utils.check_usd_path_with_timeout(usd_path) is True

# invalid file path
usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd"
usd_path = f"{assets_utils.ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaEmika/panda_xyz.usd"
# check file path
assert assets_utils.check_usd_path_with_timeout(usd_path) is False
4 changes: 2 additions & 2 deletions source/isaaclab_assets/isaaclab_assets/robots/agibot.py
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Expand Up @@ -15,15 +15,15 @@
import isaaclab.sim as sim_utils
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets.articulation import ArticulationCfg
from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

##
# Configuration
##

AGIBOT_A2D_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Agibot/A2D/A2D_physics.usd",
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Agibot/A2D/A2D.usd",
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
Expand Down
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