Menlo/asimov-1-simready-usd

Asimov 1 — SimReady USD

USD simulation asset for the Asimov 1 humanoid robot, prepared against the SimReady Robot-Body profile. This dataset contains the packaged USD asset and its validation, benchmark, and packaging metadata—not the full engineering source repository.

Full project sources: https://github.com/menloresearch/asimov-1 — mechanical and electrical designs, URDF-related sources, software, and project documentation. Those sources carry their own applicable licenses.

Robot overview

Specification	Value
Robot type	Humanoid
Project height	Approximately 1.2 m
Nominal project mass	35 kg
Actuated degrees of freedom	25

Height and nominal mass are project specifications, not newly measured simulation dimensions. The authored USD body masses sum to approximately 35.525 kg. The package provides the robot asset, not a balance or locomotion controller.

Package and loading

• Asset folder: asimov_1/
• Root USD: asimov_1/simready_usd/asimov_1.usd
• Package ID: simready.hf.Menlo.asimov-1-simready-usd.asimov_1.2026.10.19_00
• Package license: CC-BY-4.0
• Tested with Isaac Sim 6.1.0.0 and SimReady benchmark 2026.8.0.post1.

Package integrity: package definition · bill of materials and SHA-256 hashes · detailed asset README.

Download and open in Isaac Sim

With the Hugging Face CLI installed, download the complete package:

hf download Menlo/asimov-1-simready-usd \
  --repo-type dataset \
  --include 'asimov_1/*' \
  --local-dir ./asimov-1-simready

If access requires authentication, run hf auth login first. The download includes the configuration layers, hidden metadata and thumbnail directories; preserve their relative paths rather than copying only the root USD.

1. Launch Isaac Sim (tested with 6.1.0.0).
2. Choose File → Open and select asimov-1-simready/asimov_1/simready_usd/asimov_1.usd beneath your download location.
3. To integrate the robot into an existing scene instead, add the root USD as a reference and configure the surrounding scene separately.

This opens the robot asset, not a complete simulation application. Supply ground, lighting and physics-scene settings as needed for your use case. Opening the USD or pressing Play does not provide a balance or locomotion controller; consult the limitations below before relying on dynamic behavior.

Materials reference NVIDIA's runtime-provided OmniPBR.mdl, which is intentionally not redistributed here. Use an Isaac Sim/Omniverse installation that supplies that runtime library.

Validation and benchmark status

Robot-Body 3.0.0 validation reports 25 passed features, 10 optional unmet, and zero blocking failures. Local packaging pre-validation and post-validation passed. Genuine Isaac rendering and the simple PhysX ground-drop test passed.

Benchmark evidence covers all 40 unique test/engine pairs:

Engine	Pass	Fail	Runtime error	Skipped
PhysX	12	5	0	3
Newton	8	8	1	3

The official sidecar normalizes the runtime error to fail: 20 pass, 14 fail, 6 skipped, with overall passed=false. All six material checks pass across the two engines. A recorded timeout is evidence of an unsuccessful/incomplete measurement, not a passing result.

Known limitations: effort-limit failures; control and IK timeouts/failures; Newton contact and numerical-stability failures. PhysX drive-gain validation is a test-level pass with warnings: 23 of 25 joint response checks missed thresholds. Do not infer reliable locomotion, full-range tracking, force-limit compliance, coordinated control, IK, or full Newton compatibility from this package.

See the full asset README for every test outcome, failure disposition, material authoring details, and runtime requirements. Machine-readable validation and benchmark evidence are included.