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 -

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

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!