Robot USD File for Isaac Sim

[Jack-Zhang1101]

Thanks so much for your excellent open-source work! I've been trying out Isaac Sim for simulations, but I've noticed there isn't a robot USD file readily available. I attempted to use the URDF converter, but I ran into a few errors.

Would it be possible for you to update or provide a robot USD file? It would be a huge help!

[MinhaoXiong]

Hi! does the URDF converter generate a USD folder?

[hang0610]

Could you share the errors you encountered? @Jack-Zhang1101

[Jack-Zhang1101]

Hi! does the URDF converter generate a USD folder?

yes but there still some error.

[Jack-Zhang1101]

Could you share the errors you encountered? @Jack-Zhang1101
I use URDF converter generate a USD,

Traceback (most recent call last):
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 92, in _call_target
return target(*args, **kwargs)
File "/home/user/WBC/FALCON/humanoidverse/envs/decoupled_locomotion/decoupled_locomotion_stand_height_waist_wbc_ma_diff_force.py", line 25, in init
super().init(config, device)
File "/home/user/WBC/FALCON/humanoidverse/envs/decoupled_locomotion/decoupled_locomotion_stand_height_waist_wbc_ma.py", line 20, in init
super().init(config, device)
File "/home/user/WBC/FALCON/humanoidverse/envs/decoupled_locomotion/decoupled_locomotion_stand_ma.py", line 26, in init
super().init(config, device)
File "/home/user/WBC/FALCON/humanoidverse/envs/locomotion/locomotion_ma.py", line 24, in init
super().init(config, device)
File "/home/user/WBC/FALCON/humanoidverse/envs/legged_base_task/legged_robot_base_ma.py", line 20, in init
super().init(config, device)
File "/home/user/WBC/FALCON/humanoidverse/envs/base_task/base_task.py", line 28, in init
self.simulator: BaseSimulator = SimulatorClass(config=self.config, device=device)
File "/home/user/WBC/FALCON/humanoidverse/simulator/isaacsim/isaacsim.py", line 93, in init
self._setup_scene()
File "/home/user/WBC/FALCON/humanoidverse/simulator/isaacsim/isaacsim.py", line 464, in _setup_scene
self._robot = Articulation(robot_articulation_config)
File "/home/user/isaaclab/IsaacLab/source/isaaclab/isaaclab/assets/articulation/articulation.py", line 100, in init
super().init(cfg)
File "/home/user/isaaclab/IsaacLab/source/isaaclab/isaaclab/assets/asset_base.py", line 81, in init
self.cfg.spawn.func(
File "/home/user/isaaclab/IsaacLab/source/isaaclab/isaaclab/sim/utils.py", line 276, in wrapper
schemas.activate_contact_sensors(prim_paths[0], cfg.activate_contact_sensors)
File "/home/user/isaaclab/IsaacLab/source/isaaclab/isaaclab/sim/schemas/schemas.py", line 519, in activate_contact_sensors
raise ValueError(
ValueError: No contact sensors added to the prim: '/World/envs/env_0/Robot'. This means that no rigid bodies are present under this prim. Please check the prim path.

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/home/user/WBC/FALCON/humanoidverse/train_agent.py", line 118, in
main()
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/main.py", line 94, in decorated_main
_run_hydra(
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/utils.py", line 394, in _run_hydra
_run_app(
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/utils.py", line 457, in _run_app
run_and_report(
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/utils.py", line 223, in run_and_report
raise ex
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/utils.py", line 220, in run_and_report
return func()
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/utils.py", line 458, in
lambda: hydra.run(
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/hydra.py", line 132, in run
_ = ret.return_value
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/core/utils.py", line 260, in return_value
raise self._return_value
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/core/utils.py", line 186, in run_job
ret.return_value = task_function(task_cfg)
File "/home/user/WBC/FALCON/humanoidverse/train_agent.py", line 95, in main
env: BaseEnv = instantiate(config=config.env, device=device)
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 226, in instantiate
return instantiate_node(
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 347, in instantiate_node
return _call_target(target, partial, args, kwargs, full_key)
File "/home/user/miniconda3/envs/fcsim/lib/python3.10/site-packages/hydra/_internal/instantiate/_instantiate2.py", line 97, in _call_target
raise InstantiationException(msg) from e
hydra.errors.InstantiationException: Error in call to target 'humanoidverse.envs.decoupled_locomotion.decoupled_locomotion_stand_height_waist_wbc_ma_diff_force.LeggedRobotDecoupledLocomotionStanceHeightWBCForce':
ValueError("No contact sensors added to the prim: '/World/envs/env_0/Robot'. This means that no rigid bodies are present under this prim. Please check the prim path.")
full_key: env
2025-07-18 10:29:25 [4,767ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-07-18 10:29:26 [4,826ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

[hang0610]

We are planning to add IsaacSim/IsaacLab support for this project. Probably will release it this October.

[Jack-Zhang1101]

We are planning to add IsaacSim/IsaacLab support for this project. Probably will release it this October.

Thanks! I am looking forward to this.