【Isaac Lab/Isaac Sim】教程5：Isaac Lab使用本地资产

文章目录方法一直接修改源码方法二修改Isaac Lab配置文件方法三修改Isaac Sim用户配置参考使用from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR设置资产根目录时默认会使用远程Nucleus Server链接地址在网络不好或无网环境下此路不通因此需要设置使用本地资产。方法一直接修改源码找到/path/to/IsaacLab/source/isaaclab/isaaclab/utils/assets.py修改NUCLEUS_ASSET_ROOT_DIR# 修改为 - NUCLEUS_ASSET_ROOT_DIR carb.settings.get_settings().get(/persistent/isaac/asset_root/cloud) NUCLEUS_ASSET_ROOT_DIR /path/to/isaacsim_assets/Assets/Isaac/5.1 # 你的 Isaac Sim Assets路径方法二修改Isaac Lab配置文件找到/path/to/IsaacLab/apps/isaaclab.python.kit进行如下修改[settings] # persistent.isaac.asset_root.default https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1 # persistent.isaac.asset_root.cloud https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1 # persistent.isaac.asset_root.nvidia https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1 persistent.isaac.asset_root.cloud /path/to/isaacsim_assets/Assets/Isaac/5.1 persistent.isaac.asset_root.nvidia /path/to/isaacsim_assets/Assets/Isaac/5.1 persistent.isaac.asset_root.default /path/to/isaacsim_assets/Assets/Isaac/5.1 exts.isaacsim.gui.content_browser.folders [ /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Robots, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/People, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/IsaacLab, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Props, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Environments, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Materials, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Samples, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Sensors, ] exts.isaacsim.asset.browser.folders [ /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Robots, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/People, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/IsaacLab, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Props, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Environments, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Materials, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Samples, /path/to/isaacsim_assets/Assets/Isaac/5.1/Isaac/Sensors, ]方法三修改Isaac Sim用户配置找到/path/to/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json将asset_root: { default: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1, cloud: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1, nvidia: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1, timeout: 5.0 }替换成asset_root: { default: /path/to/isaacsim_assets/Assets/Isaac/5.1, cloud: /path/to/isaacsim_assets/Assets/Isaac/5.1, nvidia: /path/to/isaacsim_assets/Assets/Isaac/5.1, bak: https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1, timeout: 5.0 }三种方法任选其一即可。参考isaacsim isaaclab本地资源配置