How to load a locally downloaded asset into Isaac Sim?

23hirakrobotics · May 8, 2025, 3:31pm

Isaac Sim Version

[Yes] 4.5.0

Operating System

[Yes] Ubuntu 22.04

GPU Information

Model: RTX 4090
Driver Version: 550.144.03

Topic Description

Detailed Description

I am trying to upload a unitree G1.usd asset into isaac sim which I have downloaded locally through the Pack 1 of official isaacsim asset directory. I am trying to load it in Isaac Sim using the following code:

#!/usr/bin/env python3
from isaacsim.simulation_app import SimulationApp
import omni.usd

# 1. Boot the full Kit + Python env
app = SimulationApp({"headless": False})

# 2. Open your local USD via file URI
omni.usd.get_context().open_stage(
    "file:///home/hirak/isaacsim-assets/Assets/Isaac/4.5/Isaac/Robots/Unitree/G1/g1.usd"
)

# 3. Main loop
while app.is_running():
    app.update()

app.close()

Error Messages

I am getting the following error:

2025-05-08 14:44:49 [13,186ms] [Error] [carb.scripting-python.plugin] KeyError: ‘EXP_PATH’

At:
/home/hirak/isaacsim/kit/python/lib/python3.10/os.py(680): getitem
/home/hirak/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(186): init
/home/hirak/Isaacsim_codes/Unitree_G1/load_g1_kit.py(6):

KeyError: ‘EXP_PATH’

At:
/home/hirak/isaacsim/kit/python/lib/python3.10/os.py(680): getitem
/home/hirak/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py(186): init
/home/hirak/Isaacsim_codes/Unitree_G1/load_g1_kit.py(6):
2025-05-08 14:44:49 [13,186ms] [Error] [omni.kit.app.plugin] [py stderr]: KeyError: ‘EXP_PATH’