Updates asset server to 5.0 staging (#453)

Updates asset server to 5.0 staging

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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apps/isaaclab.python.headless.kit

@@ -208,6 +208,6 @@ enabled=true # Enable this for DLSS
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.headless.rendering.kit

@@ -147,6 +147,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.kit

@@ -303,6 +303,6 @@ fabricUseGPUInterop = true
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.rendering.kit

@@ -145,6 +145,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.xr.openxr.headless.kit

@@ -53,3 +53,8 @@ folders = [
     "${app}", # needed to find other app files
     "${app}/../source", # needed to find extensions in Isaac Lab
 ]
+
+[settings]
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.xr.openxr.kit

@@ -81,6 +81,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
-persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

source/isaaclab/test/assets/test_articulation.py

@@ -71,7 +71,9 @@ def generate_articulation_cfg(
     """
     if articulation_type == "humanoid":
         articulation_cfg = ArticulationCfg(
-            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd"),
+            spawn=sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/Humanoid/humanoid_instanceable.usd"
+            ),
             init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 1.34)),
             actuators={"body": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=stiffness, damping=damping)},
         )
@@ -85,7 +87,7 @@ def generate_articulation_cfg(
         articulation_cfg = ArticulationCfg(
             # we set 80.0 default for max force because default in USD is 10e10 which makes testing annoying.
             spawn=sim_utils.UsdFileCfg(
-                usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Simple/revolute_articulation.usd",
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/SimpleArticulation/revolute_articulation.usd",
                 joint_drive_props=sim_utils.JointDrivePropertiesCfg(max_effort=80.0, max_velocity=5.0),
             ),
             actuators={
@@ -109,7 +111,7 @@ def generate_articulation_cfg(
         # we set 80.0 default for max force because default in USD is 10e10 which makes testing annoying.
         articulation_cfg = ArticulationCfg(
             spawn=sim_utils.UsdFileCfg(
-                usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Simple/revolute_articulation.usd",
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/SimpleArticulation/revolute_articulation.usd",
                 joint_drive_props=sim_utils.JointDrivePropertiesCfg(max_effort=80.0, max_velocity=5.0),
             ),
             actuators={

source/isaaclab/test/deps/isaacsim/check_camera.py

@@ -126,7 +126,7 @@ def main():
         # Robot
         prim_utils.create_prim(
             "/World/Robot",
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd",
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd",
             translation=(0.0, 0.0, 0.6),
         )
         # Setup camera sensor on the robot

source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py

@@ -110,7 +110,7 @@ def main():
         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":
-        usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd"
+        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):
         usd_path = args_cli.asset

source/isaaclab/test/envs/test_texture_randomization.py

@@ -19,10 +19,9 @@ simulation_app = app_launcher.app
 
 import math
 import torch
-import unittest
-from unittest.mock import patch
 
 import omni.usd
+import pytest
 
 import isaaclab.envs.mdp as mdp
 from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg
@@ -181,115 +180,55 @@ class CartpoleEnvCfg(ManagerBasedEnvCfg):
         self.sim.dt = 0.005  # sim step every 5ms: 200Hz
 
 
-@configclass
-class CartpoleEnvCfgFallback(ManagerBasedEnvCfg):
-    """Configuration for the cartpole environment that tests fallback mechanism."""
-
-    # Scene settings
-    scene = CartpoleSceneCfg(env_spacing=2.5)
-
-    # Basic settings
-    actions = ActionsCfg()
-    observations = ObservationsCfg()
-    events = EventCfgFallback()
-
-    def __post_init__(self):
-        """Post initialization."""
-        # viewer settings
-        self.viewer.eye = (4.5, 0.0, 6.0)
-        self.viewer.lookat = (0.0, 0.0, 2.0)
-        # step settings
-        self.decimation = 4  # env step every 4 sim steps: 200Hz / 4 = 50Hz
-        # simulation settings
-        self.sim.dt = 0.005  # sim step every 5ms: 200Hz
-
-
-class TestTextureRandomization(unittest.TestCase):
-    """Test for texture randomization"""
-
-    """
-    Tests
-    """
-
-    def test_texture_randomization(self):
+@pytest.mark.parametrize("device", ["cpu", "cuda"])
+def test_texture_randomization(device):
     """Test texture randomization for cartpole environment."""
-        for device in ["cpu", "cuda"]:
-            with self.subTest(device=device):
-                # create a new stage
+    # Create a new stage
     omni.usd.get_context().new_stage()
 
-                # set the arguments
+    try:
+        # Set the arguments
         env_cfg = CartpoleEnvCfg()
         env_cfg.scene.num_envs = 16
         env_cfg.scene.replicate_physics = False
         env_cfg.sim.device = device
 
-                # setup base environment
+        # Setup base environment
         env = ManagerBasedEnv(cfg=env_cfg)
 
-                # simulate physics
+        try:
+            # Simulate physics
             with torch.inference_mode():
                 for count in range(50):
-                        # reset every few steps to check nothing breaks
+                    # Reset every few steps to check nothing breaks
                     if count % 10 == 0:
                         env.reset()
-                        # sample random actions
+                    # Sample random actions
                     joint_efforts = torch.randn_like(env.action_manager.action)
-                        # step the environment
+                    # Step the environment
                     env.step(joint_efforts)
-
+        finally:
             env.close()
+    finally:
+        # Clean up stage
+        omni.usd.get_context().close_stage()
 
-    def test_texture_randomization_fallback(self):
-        """Test texture randomization fallback mechanism when /visuals pattern doesn't match."""
-
-        def mock_find_matching_prim_paths(pattern):
-            """Mock function that simulates a case where /visuals pattern doesn't match."""
-            # If the pattern contains '/visuals', return empty list to trigger fallback
-            if pattern.endswith("/visuals"):
-                return []
-            return None
-
-        for device in ["cpu", "cuda"]:
-            with self.subTest(device=device):
-                # create a new stage
-                omni.usd.get_context().new_stage()
-
-                # set the arguments - use fallback config
-                env_cfg = CartpoleEnvCfgFallback()
-                env_cfg.scene.num_envs = 16
-                env_cfg.scene.replicate_physics = False
-                env_cfg.sim.device = device
-
-                with patch.object(
-                    mdp.events.sim_utils, "find_matching_prim_paths", side_effect=mock_find_matching_prim_paths
-                ):
-                    # This should trigger the fallback mechanism and log the fallback message
-                    env = ManagerBasedEnv(cfg=env_cfg)
-
-                    # simulate physics
-                    with torch.inference_mode():
-                        for count in range(20):  # shorter test for fallback
-                            # reset every few steps to check nothing breaks
-                            if count % 10 == 0:
-                                env.reset()
-                            # sample random actions
-                            joint_efforts = torch.randn_like(env.action_manager.action)
-                            # step the environment
-                            env.step(joint_efforts)
-
-                    env.close()
 
-    def test_texture_randomization_failure_replicate_physics(self):
+def test_texture_randomization_failure_replicate_physics():
     """Test texture randomization failure when replicate physics is set to True."""
-        # create a new stage
+    # Create a new stage
     omni.usd.get_context().new_stage()
 
-        # set the arguments
+    try:
+        # Set the arguments
         cfg_failure = CartpoleEnvCfg()
         cfg_failure.scene.num_envs = 16
         cfg_failure.scene.replicate_physics = True
 
-        with self.assertRaises(RuntimeError):
+        # Test that creating the environment raises RuntimeError
+        with pytest.raises(RuntimeError):
             env = ManagerBasedEnv(cfg_failure)
             env.close()
+    finally:
+        # Clean up stage
+        omni.usd.get_context().close_stage()

source/isaaclab/test/scene/test_interactive_scene.py

@@ -38,7 +38,9 @@ class MySceneCfg(InteractiveSceneCfg):
     # articulation
     robot = ArticulationCfg(
         prim_path="/World/Robot",
-        spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Simple/revolute_articulation.usd"),
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/SimpleArticulation/revolute_articulation.usd"
+        ),
         actuators={
             "joint": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=100.0, damping=1.0),
         },

source/isaaclab/test/sensors/test_imu.py

@@ -34,7 +34,7 @@ from isaaclab.utils import configclass
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
-from isaaclab.utils.assets import NUCLEUS_ASSET_ROOT_DIR  # isort: skip
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR  # isort: skip
 
 # offset of imu_link from base_link on anymal_c
 POS_OFFSET = (0.2488, 0.00835, 0.04628)
@@ -148,7 +148,7 @@ class MySceneCfg(InteractiveSceneCfg):
         self.pendulum.init_state.pos = (-1.0, 1.0, 0.5)
 
         # change asset
-        self.robot.spawn.usd_path = f"{NUCLEUS_ASSET_ROOT_DIR}/Isaac/Robots/ANYbotics/anymal_c.usd"
+        self.robot.spawn.usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
         # change iterations
         self.robot.spawn.articulation_props.solver_position_iteration_count = 32
         self.robot.spawn.articulation_props.solver_velocity_iteration_count = 32

source/isaaclab/test/sim/test_schemas.py

@@ -108,7 +108,7 @@ def test_modify_properties_on_articulation_instanced_usd(setup_simulation):
     """
     sim, arti_cfg, rigid_cfg, collision_cfg, mass_cfg, joint_cfg = setup_simulation
     # spawn asset to the stage
-    asset_usd_file = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd"
+    asset_usd_file = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
     prim_utils.create_prim("/World/asset_instanced", usd_path=asset_usd_file, translation=(0.0, 0.0, 0.62))
 
     # set properties on the asset and check all properties are set
@@ -117,15 +117,13 @@ def test_modify_properties_on_articulation_instanced_usd(setup_simulation):
     schemas.modify_mass_properties("/World/asset_instanced", mass_cfg)
     schemas.modify_joint_drive_properties("/World/asset_instanced", joint_cfg)
     # validate the properties
-    _validate_articulation_properties_on_prim("/World/asset_instanced", arti_cfg, False)
+    _validate_articulation_properties_on_prim("/World/asset_instanced/base", arti_cfg, False)
     _validate_rigid_body_properties_on_prim("/World/asset_instanced", rigid_cfg)
     _validate_mass_properties_on_prim("/World/asset_instanced", mass_cfg)
     _validate_joint_drive_properties_on_prim("/World/asset_instanced", joint_cfg)
 
     # make a fixed joint
-    # note: for this asset, it doesn't work because the root is not a rigid body
     arti_cfg.fix_root_link = True
-    with pytest.raises(NotImplementedError):
     schemas.modify_articulation_root_properties("/World/asset_instanced", arti_cfg)
 
 
@@ -133,7 +131,7 @@ def test_modify_properties_on_articulation_usd(setup_simulation):
     """Test setting properties on articulation usd."""
     sim, arti_cfg, rigid_cfg, collision_cfg, mass_cfg, joint_cfg = setup_simulation
     # spawn asset to the stage
-    asset_usd_file = f"{ISAAC_NUCLEUS_DIR}/Robots/Franka/franka.usd"
+    asset_usd_file = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaPanda/franka.usd"
     prim_utils.create_prim("/World/asset", usd_path=asset_usd_file, translation=(0.0, 0.0, 0.62))
 
     # set properties on the asset and check all properties are set

source/isaaclab/test/sim/test_utils.py

@@ -94,7 +94,9 @@ def test_find_global_fixed_joint_prim():
     prim_utils.create_prim(
         "/World/Franka", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd"
     )
-    prim_utils.create_prim("/World/Franka_Isaac", usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Franka/franka.usd")
+    prim_utils.create_prim(
+        "/World/Franka_Isaac", usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaPanda/franka.usd"
+    )
 
     # test
     assert sim_utils.find_global_fixed_joint_prim("/World/ANYmal") is None

source/isaaclab_assets/isaaclab_assets/robots/allegro.py

@@ -29,7 +29,7 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 ALLEGRO_HAND_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/AllegroHand/allegro_hand_instanceable.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/WonikRobotics/AllegroHand/allegro_hand_instanceable.usd",
         activate_contact_sensors=False,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=True,

source/isaaclab_assets/isaaclab_assets/robots/ant.py

@@ -19,7 +19,7 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 ANT_CFG = ArticulationCfg(
     prim_path="{ENV_REGEX_NS}/Robot",
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Ant/ant_instanceable.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/Ant/ant_instanceable.usd",
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
             max_depenetration_velocity=10.0,

source/isaaclab_assets/isaaclab_assets/robots/humanoid.py

@@ -19,7 +19,7 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 HUMANOID_CFG = ArticulationCfg(
     prim_path="{ENV_REGEX_NS}/Robot",
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/Humanoid/humanoid_instanceable.usd",
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=None,
             max_depenetration_velocity=10.0,

source/isaaclab_assets/isaaclab_assets/robots/quadcopter.py

@@ -19,7 +19,7 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 CRAZYFLIE_CFG = ArticulationCfg(
     prim_path="{ENV_REGEX_NS}/Robot",
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Crazyflie/cf2x.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Bitcraze/Crazyflie/cf2x.usd",
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
             max_depenetration_velocity=10.0,

source/isaaclab_assets/isaaclab_assets/robots/sawyer.py

@@ -23,7 +23,7 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 SAWYER_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/RethinkRobotics/sawyer_instanceable.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/RethinkRobotics/Sawyer/sawyer_instanceable.usd",
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
             max_depenetration_velocity=5.0,

source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py

@@ -27,7 +27,7 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 SHADOW_HAND_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ShadowHand/shadow_hand_instanceable.usd",
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ShadowRobot/ShadowHand/shadow_hand_instanceable.usd",
         activate_contact_sensors=False,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=True,

source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py

@@ -19,7 +19,7 @@ from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.math import sample_uniform
 
 
@@ -52,7 +52,7 @@ class FrankaCabinetEnvCfg(DirectRLEnvCfg):
     robot = ArticulationCfg(
         prim_path="/World/envs/env_.*/Robot",
         spawn=sim_utils.UsdFileCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Franka/franka_instanceable.usd",
+            usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd",
             activate_contact_sensors=False,
             rigid_props=sim_utils.RigidBodyPropertiesCfg(
                 disable_gravity=False,

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py

@@ -42,7 +42,7 @@ class MySceneCfg(InteractiveSceneCfg):
     robot = ArticulationCfg(
         prim_path="{ENV_REGEX_NS}/Robot",
         spawn=sim_utils.UsdFileCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd",
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/Humanoid/humanoid_instanceable.usd",
             rigid_props=sim_utils.RigidBodyPropertiesCfg(
                 disable_gravity=None,
                 max_depenetration_velocity=10.0,

tools/test_settings.py

@@ -16,24 +16,15 @@ DEFAULT_TIMEOUT = 200
 """The default timeout for each test in seconds."""
 
 PER_TEST_TIMEOUTS = {
-    "test_articulation.py": 300,
+    "test_articulation.py": 500,
     "test_rigid_object.py": 300,
-    "test_rigid_object_collection.py": 200,
-    "test_deformable_object.py": 200,
     "test_environments.py": 1500,  # This test runs through all the environments for 100 steps each
     "test_environment_determinism.py": 500,  # This test runs through many the environments for 100 steps each
     "test_factory_environments.py": 300,  # This test runs through Factory environments for 100 steps each
     "test_env_rendering_logic.py": 300,
-    "test_camera.py": 500,
-    "test_tiled_camera.py": 500,
-    "test_multi_tiled_camera.py": 200,
+    "test_multi_tiled_camera": 300,
     "test_generate_dataset.py": 500,  # This test runs annotation for 10 demos and generation until one succeeds
-    "test_rsl_rl_wrapper.py": 200,
-    "test_sb3_wrapper.py": 200,
-    "test_skrl_wrapper.py": 200,
     "test_operational_space.py": 300,
-    "test_device_constructors.py": 200,
-    "test_terrain_importer.py": 200,
     "test_environments_training.py": 5000,
 }
 """A dictionary of tests and their timeouts in seconds.