How to access Isaaclab Nucleus server

[dxyy1]

Hi there!

I noticed that all the pretrained model and the actuator nets are all loaded directly from the Isaac Nucleus server. I probability missed this in the documentation but does anyone know how we can 1) inspect the isaaclab server content from the Omniverse Nucleus app, 2) load existing models (.pt files) from the server, other than the ones existing in the Tutorials?

Apologies for the naive questions, and thanks in advance :).

[Mayankm96]

This seems a general Isaac Sim related question. The instructions here should help: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html?highlight=nucleus#assets-and-nucleus

[dxyy1]

Hi there,
Thank you for your reply! I want to access the Isaaclab nucleus server specifically, which I am not too sure if it is even publicly assessible to start with. This is because from the Tutorials, I saw that there are models being loaded from the Isaaclab Nucleus Server but no ntoes explaining the content of that server or how to access the other models, which is why I am asking here.

Apologies if my previous question was not clear, and I hope this clears it up. :)

[Mayankm96]

Once you are able to connect to Isaac nucleus directory, you should find the folder IsaacLab in there.

Here's how it is organized in the code:

https://isaac-sim.github.io/IsaacLab/source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR

[dxyy1]

Thank you very much!