source/isaaclab_assets/docs/README.md

Isaac Lab: Assets for Robots and Objects

This extension contains configurations for various assets and sensors. The configuration instances are used to spawn and configure the instances in the simulation. They are passed to their corresponding classes during construction.

Organizing custom assets

For Isaac Lab, we primarily store assets on the Omniverse Nucleus server. However, at times, it may be needed to store the assets locally (for debugging purposes). In such cases, the extension's data directory can be used for temporary hosting of assets.

Inside the data directory, we recommend following the same structure as our Nucleus directory Isaac/IsaacLab. This helps us later to move these assets to the Nucleus server seamlessly.

The recommended directory structure inside data is as follows:

• Robots/<Company-Name>/<Robot-Name>: The USD files should be inside <Robot-Name> directory with the name of the robot.
• Props/<Prop-Type>/<Prop-Name>: The USD files should be inside <Prop-Name> directory with the name of the prop. This includes mounts, objects and markers.
• ActuatorNets/<Company-Name>: The actuator networks should inside <Company-Name directory with the name of the actuator that it models.
• Policies/<Task-Name>: The policy should be JIT/ONNX compiled with the name policy.pt. It should also contain the parameters used for training the checkpoint. This is to ensure reproducibility.
• Test/<Test-Name>: The asset used for unit testing purposes.

Referring to the assets in your code

You can use the following snippet to refer to the assets:

from isaaclab_assets import ISAACLAB_ASSETS_DATA_DIR


# ANYmal-C
ANYMAL_C_USD_PATH = f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd"
# ANYmal-D
ANYMAL_D_USD_PATH = f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd"