[Question] How to obtain local copy of assets?

[meghbhalerao]

Question

Hi, I am unable to find the xml or urdf files for the assets, for example cube, table etc. I see that the urdf files are located in a path which involves variables such as NUCLEUS_ASSET_ROOT_DIR and NVIDIA_NUCLEUS_DIR but this seems to be on an NVIDIA server -

IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py

Line 24 in 4c91535

NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")

and the assets seem to be referenced using the above path, as an example in this line -

IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/lift_env_cfg.py

Line 49 in 4c91535

spawn=UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"),

Is there some place in the code which has a collection of all assets, i.e the xml files or the urdf/'use' or mjcf files?
I see only the following files with .xml, .urdf extensions

For example IsaacGymEnvs seems to have a folder of assets https://github.com/isaac-sim/IsaacGymEnvs/tree/main/assets - is there something similar for Isaac-lab?

So, my question is -

1. How do I get a copy of the assets locally, that is, on my local machine?

Thanks!

[jsmith-bdai]

Most of the robots used within Isaac Lab rely on USD files that are all hosted on the Nvidia Nucleus server.

You can use wget to download them. As an example for Cartpole (on Isaac Lab 1.2):

wget http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2/Isaac/IsaacLab/Robots/Classic/Cartpole/cartpole.usd

You can determine the /Robots/Classic/Cartpole/cartpole.usd bit from the robot's ArticulationCfg within lab_assets, e.g. here

[jsmith-bdai]

I'll leave this open in case there's an easier way to do this

[meghbhalerao]

Thanks!
Could this be added somewhere in the documentation, for example, potentially here https://isaac-sim.github.io/IsaacLab/main/source/how-to/import_new_asset.html, since I don't think I could find this info in the docs -

Thanks again for your help!