Missing franka_panda_hand_on_stand.usd - robot asset not bundled in repository

[shaoxiang]

Problem

The Franka embodiment at isaaclab_arena/embodiments/franka/franka.py:50 hardcodes a USD path:

usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Arena/assets/robot_library/franka_panda_hand_on_stand.usd"

This file is not present in the repository — there are zero .usd files in the entire Arena source tree. This makes the Franka robot embodiment unusable without an active Nucleus connection.

Error

When running any task with Franka (e.g. ReachCube):

FileNotFoundError: [Errno 2] No such file or directory: '/isaac-sim/assets/Isaac/IsaacLab/Arena/assets/robot_library/franka_panda_hand_on_stand.usd'

Attempting to symlink panda_instanceable.usd (from IsaacLab's own assets) as a workaround fails later with:

[Error] [omni.physx.tensors.plugin] GPU tensor initialization failure

because the USD structure is incompatible.

Request

Please either:

1. Bundle the USD file in the repo, or
2. Provide a documented local fallback that works offline, or
3. Clarify the Nucleus dependency in README so users know Franka requires an internet connection / Nucleus server

[xyao-nv]

Assets and files that are used by Isaac Lab Arena by default are publicly available (hosted on a public S3 drive) without additional authentication.
ISAACLAB_NUCLEUS_DIR points to the S3 drive, defined in Lab 3.0, as https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/. Do you have access to this S3 drive?