Environment Assets

USD environment and scene assets for simulation.

Overview

Environment assets are separate from robot assets:

  • robot_usds — Robot models

  • Environment assets — Scenes, objects, terrain

fiveages-env-usds

Repository: fiveages-sim/fiveages-env-usds

Purpose

Public environment USD assets:

  • Indoor scenes (office, lab)

  • Objects for manipulation

  • Terrain

Location

In FaSim-Isaac:

FaSim-Isaac/
└── environment/
    └── fiveages_env/    # → fiveages-env-usds

Usage

# Load environment in Isaac Sim
from omni.isaac.core.utils.stage import add_reference_to_stage

add_reference_to_stage(
    usd_path="environment/fiveages_env/office.usd",
    prim_path="/World/Environment"
)

fa-project-usd

Repository: fa-project-usd (private)

Access Required

This repository is private.

Purpose

Internal project-specific USD scenes and assets.

Location

FaSim-Isaac/
└── environment/
    └── fa-project-usd/

Not robot_usds Submodules

Important

Environment assets are not submodules of robot_usds. They are:

  • Sibling directories in FaSim-Isaac

  • Separate submodules of FaSim-Isaac itself

Usage in FaSim

Start Isaac with FaSim ./run.sh (PhysX / Newton / Headless Streaming menu). Open the scene USD under environment/fiveages_env/ (or fa-project-usd/) in Isaac. There is no ./run.sh --env flag.

Creating Custom Environments

  1. Create USD scene in Isaac Sim

  2. Export to environment/ directory

  3. Reference in configuration

# Custom scene setup
scene_path = "environment/custom_scene.usd"