Where is the usd file in the omniisaac gymenvs code

The robot code in omniisaac gymenvs includes the line "Self._usd_path = assets_root_path + “/Isaac/Robots/ANYbotics/anymal_instanceable usd”
What if I add my own usd file to this path(Because this folder I found was locked)? Or how should I modify my own usd file when applying it to this project?

Also, what does the prim_path mentioned in the code mean and how do I define it when I use the new usd file? Thank you very much

To add your own USD you have to create the instanceable version of them. The most success I had was following this:

Thank you very much for your reply, it is very valuable. Well, I have a new idea, and I’m going to try it

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Hi, I have a question regarding import the usd file.

I download the ant_instanceable.usd from the server, and use add_reference_to_stage using the local path. And then I traverse all the prim and the results are like as below. So without getting the full prim tree, it seems I only obtain the partial of it. I am wondering if you have any idea on this. Thanks!