isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question] How to obtain local copy of assets? #1307

Open meghbhalerao opened 3 weeks ago

meghbhalerao commented 3 weeks ago

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 - 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 the xml files or the urdf/'use' or mjcf files? I see only the following files with .xml, .urdf extensions

Screenshot 2024-10-25 at 1 33 58 PM Screenshot 2024-10-25 at 1 34 23 PM

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 commented 2 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

jsmith-bdai commented 2 weeks ago

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

meghbhalerao commented 2 weeks ago

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 -

Screenshot 2024-10-28 at 2 16 49 PM

Thanks again for your help!