Unify Isaac Lab assets with Isaac Sim #3608

stevfeng · 2025-10-02T18:32:14Z

Description

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List any dependencies that are required for this change.

Fixes # (issue)

Type of change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (existing functionality will not work without user modification)
Documentation update

Screenshots

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Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
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
I have added my name to the CONTRIBUTORS.md or my name already exists there

Mayankm96 · 2025-10-07T08:36:46Z

How was the asset verification done? Did you run training on a proper set of environments and made sure they all train exactly the same?

Mayankm96

Concerns with how asset generation was done and verifed. This is a big change.

stevfeng · 2025-10-07T18:29:54Z

Concerns with how asset generation was done and verifed. This is a big change.

How was the asset verification done? Did you run training on a proper set of environments and made sure they all train exactly the same?

Matthew helped me verify all these assets using a benchmark with 2 main metrics: rewards and duration. We verified that all the tasks have similar metrics as before

@matthewtrepte to provide more details as well

kellyguo11 · 2025-10-13T19:11:33Z

apps/isaaclab.python.headless.kit

-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"


we shouldn't be updating this on main, probably better to point this PR to release/2.3.0 branch instead

Thanks, updated this to main

kellyguo11 · 2025-10-13T19:28:42Z

source/isaaclab/isaaclab/utils/assets.py

 import omni.client

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


why is this change needed?

I think this was from formatting, reverted it back

kellyguo11 · 2025-10-13T19:32:19Z

@matthewtrepte do you have any training curves to show the before/after for the impacted environments?
Have we also ran through all the demo and check scripts that use these assets?

@stevfeng please also run the formatter to address the linter errors.

greptile-apps · 2025-11-13T19:21:13Z

Greptile Overview

Greptile Summary

This PR migrates Isaac Lab robot assets from the ISAACLAB_NUCLEUS_DIR path structure to the unified ISAAC_NUCLEUS_DIR path structure, aligning Isaac Lab with Isaac Sim's asset organization.

Key changes:

Replaced ISAACLAB_NUCLEUS_DIR references with ISAAC_NUCLEUS_DIR across all robot configurations
Updated asset paths to new directory structure (e.g., ANYmal-C → anymal_c, FrankaEmika → FrankaRobotics/FrankaEmika)
Modified path for Unitree G1 from G1 to G1_23dof subdirectory
Updated path for cart double pendulum and humanoid from Classic to IsaacSim subdirectory
Removed unused ISAACLAB_NUCLEUS_DIR imports throughout codebase
Updated all test files and demo scripts to reflect new paths
Maintained backward compatibility import in anymal.py for transition period

Impact:
This is a breaking change for users who may have custom configurations referencing the old paths. However, it standardizes the asset structure and improves maintainability by consolidating Isaac Lab and Isaac Sim asset locations.

Confidence Score: 5/5

This PR is safe to merge - it's a well-executed refactoring with consistent path updates across all affected files
The changes are systematic and consistent across all files, updating only import statements and string paths. All robot configurations have been updated uniformly, tests have been adapted to match, and the ISAACLAB_NUCLEUS_DIR is still imported where needed for backward compatibility. The refactoring is purely structural with no logical changes.
No files require special attention - all changes follow the same pattern of path migration

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/sim/spawners/init.py	5/5	Updated documentation examples to use new Isaac Sim asset paths
source/isaaclab_assets/isaaclab_assets/robots/anymal.py	5/5	Migrated ANYmal robot paths from IsaacLab to Isaac Sim directory structure
source/isaaclab_assets/isaaclab_assets/robots/unitree.py	5/5	Updated Unitree robot paths, including G1 moved to G1_23dof subdirectory
source/isaaclab_assets/isaaclab_assets/robots/franka.py	5/5	Updated Franka robot paths to FrankaRobotics/FrankaEmika subdirectory
source/isaaclab/test/sim/test_utils.py	5/5	Updated test file paths and removed unused ISAACLAB_NUCLEUS_DIR import

Sequence Diagram

sequenceDiagram
    participant Dev as Developer
    participant Code as Isaac Lab Code
    participant Assets as Asset Path Resolution
    participant Nucleus as Isaac Sim Nucleus Server
    
    Note over Dev,Nucleus: Asset Path Migration
    
    Dev->>Code: Update robot configurations
    Code->>Code: Replace ISAACLAB_NUCLEUS_DIR with ISAAC_NUCLEUS_DIR
    
    Note over Code: Path structure changes:<br/>IsaacLab/Robots/* → Isaac/Robots/*
    
    Code->>Assets: Request robot asset (e.g., Franka)
    Assets->>Assets: Resolve path from ISAAC_NUCLEUS_DIR
    Note over Assets: New path: Isaac/Robots/FrankaRobotics/FrankaEmika/
    
    Assets->>Nucleus: Load USD file from new location
    Nucleus-->>Assets: Return asset data
    Assets-->>Code: Asset loaded successfully
    
    Code->>Code: Update tests to match new paths
    Code->>Code: Update documentation examples
    
    Note over Dev,Nucleus: Result: Unified asset structure<br/>across Isaac Lab and Isaac Sim

greptile-apps

Additional Comments (3)

source/isaaclab_assets/isaaclab_assets/robots/anymal.py, line 47 (link)

logic: actuator network file still references ISAACLAB_NUCLEUS_DIR while robot USD paths were migrated to ISAAC_NUCLEUS_DIR - verify this actuator network exists at this path in the new asset structure
source/isaaclab_assets/isaaclab_assets/robots/unitree.py, line 32 (link)

logic: actuator network file still references ISAACLAB_NUCLEUS_DIR while robot USD paths were migrated to ISAAC_NUCLEUS_DIR - verify this exists in the new asset structure
apps/isaaclab.python.kit, line 218-220 (link)

logic: hardcoded to Isaac 5.1 staging S3 bucket - this will break when Isaac 5.2+ is released unless updated

_{28 files reviewed, 8 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2025-11-13T19:21:10Z

apps/isaaclab.python.headless.kit

+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
