[Newton]Replaces nucleus_utils with reimplementation as part of IsaacLab

source/isaaclab/isaaclab/sim/_impl/newton_manager.py

@@ -137,6 +137,7 @@ def start_simulation(cls) -> None:
         NewtonManager._builder.up_axis = Axis.from_string(NewtonManager._up_axis)
         with Timer(name="newton_finalize_builder", msg="Finalize builder took:", enable=True, format="ms"):
             NewtonManager._model = NewtonManager._builder.finalize(device=NewtonManager._device)
+            NewtonManager._model.num_envs = NewtonManager._num_envs
         NewtonManager._state_0 = NewtonManager._model.state()
         NewtonManager._state_1 = NewtonManager._model.state()
         NewtonManager._state_temp = NewtonManager._model.state()

source/isaaclab/isaaclab/sim/utils/nucleus.py

@@ -0,0 +1,76 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import logging
+
+import carb
+import omni.client
+from omni.client import Result
+
+logger = logging.getLogger(__name__)
+
+DEFAULT_ASSET_ROOT_PATH_SETTING = "/persistent/isaac/asset_root/default"
+DEFAULT_ASSET_ROOT_TIMEOUT_SETTING = "/persistent/isaac/asset_root/timeout"
+
+
+def check_server(server: str, path: str, timeout: float = 10.0) -> bool:
+    """Check a specific server for a path
+
+    Args:
+        server (str): Name of Nucleus server
+        path (str): Path to search
+        timeout (float): Default value: 10 seconds
+
+    Returns:
+        bool: True if folder is found
+    """
+    logger.info(f"Checking path: {server}{path}")
+    # Increase hang detection timeout
+    omni.client.set_hang_detection_time_ms(20000)
+    result, _ = omni.client.stat(f"{server}{path}")
+    if result == Result.OK:
+        logger.info(f"Success: {server}{path}")
+        return True
+    else:
+        logger.info(f"Failure: {server}{path} not accessible")
+        return False
+
+
+def get_assets_root_path(*, skip_check: bool = False) -> str:
+    """Tries to find the root path to the Isaac Sim assets on a Nucleus server
+
+    Args:
+        skip_check (bool): If True, skip the checking step to verify that the resolved path exists.
+
+    Raises:
+        RuntimeError: if the root path setting is not set.
+        RuntimeError: if the root path is not found.
+
+    Returns:
+        url (str): URL of Nucleus server with root path to assets folder.
+    """
+
+    # get timeout
+    timeout = carb.settings.get_settings().get(DEFAULT_ASSET_ROOT_TIMEOUT_SETTING)
+    if not isinstance(timeout, (int, float)):
+        timeout = 10.0
+
+    # resolve path
+    logger.info(f"Check {DEFAULT_ASSET_ROOT_PATH_SETTING} setting")
+    default_asset_root = carb.settings.get_settings().get(DEFAULT_ASSET_ROOT_PATH_SETTING)
+    if not default_asset_root:
+        raise RuntimeError(f"The '{DEFAULT_ASSET_ROOT_PATH_SETTING}' setting is not set")
+    if skip_check:
+        return default_asset_root
+
+    # check path
+    result = check_server(default_asset_root, "/Isaac", timeout)
+    if result:
+        result = check_server(default_asset_root, "/NVIDIA", timeout)
+        if result:
+            logger.info(f"Assets root found at {default_asset_root}")
+            return default_asset_root
+
+    raise RuntimeError(f"Could not find assets root folder: {default_asset_root}")

source/isaaclab/test/deps/isaacsim/check_camera.py

@@ -45,11 +45,6 @@
 import os
 import random
 
-try:
-    import isaacsim.storage.native as nucleus_utils
-except ModuleNotFoundError:
-    import isaacsim.core.utils.nucleus as nucleus_utils
-
 import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 from isaacsim.core.api.world import World
@@ -59,6 +54,8 @@
 from PIL import Image, ImageChops
 from pxr import Gf, UsdGeom
 
+import isaaclab.sim.utils.nucleus as nucleus_utils
+
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
     msg = (

source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py

@@ -43,20 +43,16 @@
 import os
 import torch
 
-import omni.log
-
-try:
-    import isaacsim.storage.native as nucleus_utils
-except ModuleNotFoundError:
-    import isaacsim.core.utils.nucleus as nucleus_utils
-
 import isaacsim.core.utils.prims as prim_utils
+import omni.log
 from isaacsim.core.api.world import World
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import Articulation
 from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 
+import isaaclab.sim.utils.nucleus as nucleus_utils
+
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
     msg = (

source/isaaclab/test/deps/isaacsim/check_ref_count.py

@@ -37,18 +37,14 @@
 import gc
 import torch  # noqa: F401
 
-import omni.log
-
-try:
-    import isaacsim.storage.native as nucleus_utils
-except ModuleNotFoundError:
-    import isaacsim.core.utils.nucleus as nucleus_utils
-
 import isaacsim.core.utils.prims as prim_utils
+import omni.log
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
 from isaacsim.core.utils.carb import set_carb_setting
 
+import isaaclab.sim.utils.nucleus as nucleus_utils
+
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
     msg = (