can not find GR1T2_fourier_hand_6dof.usd

[Huang-Yuhan]

Description:
Hi Isaac Lab team,

I’m working through the imitation learning tutorial using locally installed assets (not runtime downloads), but the required GR1T2 robot USD file is missing:

Robots/FourierIntelligence/GR-1/GR1T2_fourier_hand_6dof/GR1T2_fourier_hand_6dof.usd

What I’ve verified:

1. The file doesn’t exist in my local Isaac Sim installation (/NVIDIA/Assets/...)
2. Not available in the official Isaac Sim Assets download

Questions:

1. Is this asset available through an alternative source?
2. Are there installation steps I might have missed to acquire these robot assets?
3. Would there be a recommended workaround to proceed with the tutorial?

Thanks for your help!

[RandomOakForest]

Thank you for posting this. Could you share the error log you get? This may be something we need to fix. Thanks.

[Huang-Yuhan]

(env_isaaclab) dalab-crd@password111:~/桌面/IsaacLab$ ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py --device cuda --headless --num_envs 50 --generation_num_trials 1000 --input_file ./datasets/dataset_annotated_gr1.hdf5 --output_file ./datasets/generated_dataset.hdf5
[INFO] Using python from: /home/dalab-crd/anaconda3/envs/env_isaaclab/bin/python
[INFO][AppLauncher]: Using device: cuda
[INFO][AppLauncher]: Loading experience file: /home/dalab-crd/桌面/IsaacLab/apps/isaaclab.python.headless.kit
[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/dalab-crd/anaconda3/envs/env_isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.5/user.config.json'
[Info] [carb] Logging to file: /home/dalab-crd/anaconda3/envs/env_isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.5/kit_20250509_201718.log
2025-05-09 12:17:18 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2025-05-09 12:17:18 [2ms] [Warning] [omni.ext.plugin] [ext: rendering_modes] Extensions config 'extension.toml' doesn't exist '/home/dalab-crd/桌面/IsaacLab/apps/rendering_modes' or '/home/dalab-crd/桌面/IsaacLab/apps/rendering_modes/config'
2025-05-09 12:17:18 [99ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2025-05-09 12:17:18 [325ms] [Warning] [omni.datastore] OmniHub is inaccessible
2025-05-09 12:17:18 [401ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.

|---------------------------------------------------------------------------------------------|
| Driver Version: 550.144.03 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 2070 SUPER | Yes: 0 | | 8438 MB | 10de | 0 |
| | | | | | 1e84 | 221f8e12.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.11.0-25-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101011 (1.21.1.11)
| Processor: 11th Gen Intel(R) Core(TM) i7-11700F @ 2.50GHz
| Cores: 8 | Logical Cores: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 15822 | Free Memory: 11039
| Total Page/Swap (MB): 4095 | Free Page/Swap: 4095
|---------------------------------------------------------------------------------------------|
2025-05-09 12:17:22 [3,850ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
Traceback (most recent call last):
File "/home/dalab-crd/桌面/IsaacLab/scripts/imitation_learning/isaaclab_mimic/generate_dataset.py", line 141, in
main()
File "/home/dalab-crd/桌面/IsaacLab/scripts/imitation_learning/isaaclab_mimic/generate_dataset.py", line 87, in main
env_cfg, success_term = setup_env_config(
File "/home/dalab-crd/桌面/IsaacLab/source/isaaclab_mimic/isaaclab_mimic/datagen/generation.py", line 160, in setup_env_config
env_cfg = parse_env_cfg(env_name, device=device, num_envs=num_envs)
File "/home/dalab-crd/桌面/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 120, in parse_env_cfg
cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
File "/home/dalab-crd/桌面/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py", line 55, in load_cfg_from_registry
cfg_entry_point = gym.spec(task_name).kwargs.get(entry_point_key)
File "/home/dalab-crd/anaconda3/envs/env_isaaclab/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 1008, in spec
_check_version_exists(ns, name, version)
File "/home/dalab-crd/anaconda3/envs/env_isaaclab/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 399, in _check_version_exists
_check_name_exists(ns, name)
File "/home/dalab-crd/anaconda3/envs/env_isaaclab/lib/python3.10/site-packages/gymnasium/envs/registration.py", line 376, in _check_name_exists
raise error.NameNotFound(
gymnasium.error.NameNotFound: Environment Isaac-PickPlace-GR1T2-Abs-Mimic doesn't exist.
2025-05-09 12:17:22 [4,337ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2025-05-09 12:17:22 [4,370ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

[Huang-Yuhan]

I have the same issue as described in [Question] Request for the GR1T2_fourier_hand_6dof.usd asset. .

[zz7379]

Same problem, find any solution?

[Huang-Yuhan]

Sorry, I haven't found any solution yet

[zz7379]

I get the solution. This is caused by can't access http://omniverse-content-production.s3-us-west-2.amazonaws.com
Manually download from http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Robots/FourierIntelligence/GR-1/GR1T2_fourier_hand_6dof/GR1T2_fourier_hand_6dof.usd could work.

[Huang-Yuhan]

Hello, I have downloaded the file and my directory structure is as follows

Path
----
C:\isaacsim_assets\Assets\Isaac\4.5\Isaac\Robots\FourierIntelligence\GR-1


 tree /F
文件夹 PATH 列表
卷序列号为 A0F2-85D3
C:.
│  GR1_T1.usd
│  GR1_T2.usd
│
├─.thumbs
│  │  GR1_T1.thumb.usd
│  │  GR1_T2.thumb.usd
│  │
│  └─256x256
│          .GR1_T1.usd.last_generated
│          .GR1_T2.usd.last_generated
│          GR1.usd.png
│          GR1_T1.usd.png
│          GR1_T2.usd.png
│
├─GR1T2_fourier_hand_6dof
│      GR1T2_fourier_hand_6dof.usd
│
└─materials
        basebashoucolor.png
        basecolor.png
        baseon.png
        basewi.png
        facecolor.png
        headbase.png
        headon.png
        light.png
        logocolor.png
        waist1_light2.png
        waistblighton2.png
        waistlogo1.png

I have encountered it “ 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.“

How did you solve the problem

[zz7379]

This may be caused by no '/World/envs/env_0/Robot' in the scene.

[Huang-Yuhan]

I find a solution

Use the following command to view the directory structure

aws s3 ls s3://omniverse-content-production/Assets/Isaac/4.5/Isaac/Robots/FourierIntelligence/GR-1/ --recursive --no-sign-request

Then use the following command to download

aws s3 cp s3://omniverse-content-production/Assets/Isaac/4.5/Isaac/Robots/FourierIntelligence/GR-1/ ./GR-1/ --recursive --no-sign-request

[zz7379]

Good Solution!