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Robot Asset Path Migration#

Isaac Sim 6.0 includes the original robot assets under /Isaac/Robots and a parallel set of multiphysics-ready variants under /Isaac/Robots_Multiphysics. Use the multiphysics variants when a catalog entry exists and the validation status is acceptable for the workflow you are migrating.

Do not replace robot asset paths mechanically. The 6.0 examples, tests, and some project workflows can still reference /Isaac/Robots. Migrate user code to /Isaac/Robots_Multiphysics only after checking the robot catalog and running a small workflow smoke test.

Catalog-Driven Migration#

Use the Multiphysics Robots catalog as the source of truth:

  • A Multiphysics USD Path means a transformed asset exists under /Isaac/Robots_Multiphysics.

  • The |validated| marker means testing confirms the transformed asset behaves like the original catalog entry.

  • An unmarked Multiphysics USD Path indicates a transformed asset that still requires validation. Treat it as a review candidate, not as a production-ready replacement, until your project smoke test passes.

Example path update:

5.x or legacy 6.0 path

Catalog-driven 6.0 path

/Isaac/Robots/UniversalRobots/ur20/ur20.usd

/Isaac/Robots_Multiphysics/UniversalRobots/ur20/ur20.usda

Migration Approach#

Follow these steps to migrate each robot asset:

  1. Inventory code, configuration files, launch files, and saved scenes that reference /Isaac/Robots.

  2. For each robot, look up the corresponding Multiphysics USD Path in the Multiphysics Robots catalog.

  3. Prefer entries marked with |validated| when migrating production workflows. For unmarked entries, keep the legacy asset or run project-owned validation before switching.

  4. Update the path root to /Isaac/Robots_Multiphysics and use the exact relative path and extension from the catalog.

  5. Re-run the workflow that owns the asset: one load, one reset or simulation step if applicable, controller initialization, sensor attachment, and any benchmark or ROS launch that consumes the robot.

Validation Checklist#

Verify the following before merging the migration:

  • The migrated path exists in the robot asset catalog under Multiphysics USD Path.

  • The catalog entry is marked |validated| or the project records its own smoke-test evidence for the unmarked entry.

  • Link names, joint names, articulation root, drives, limits, collision meshes, materials, and sensors match the assumptions of the migrated workflow.

  • Controllers, motion-generation configs, ROS frame names, and benchmark scenarios reflect any prim layout changes in the transformed asset.

  • Any remaining /Isaac/Robots references are intentional because no suitable multiphysics asset is available or validated for that workflow.