Open meghbhalerao opened 3 weeks ago
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
I'll leave this open in case there's an easier way to do this
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!
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
andNVIDIA_NUCLEUS_DIR
but this seems to be on an NVIDIA server - https://github.com/isaac-sim/IsaacLab/blob/4c91535279ac3e57ef1103473e23a50ce8bf4296/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py#L24 and the assets seem to be referenced using the above path, as an example in this line - https://github.com/isaac-sim/IsaacLab/blob/4c91535279ac3e57ef1103473e23a50ce8bf4296/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/lift_env_cfg.py#L49 Is there some place in the code which has a collection of all assets, i.e thexml
files or theurdf
/'use' ormjcf
files? I see only the following files with .xml, .urdf extensionsFor 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 -
Thanks!