i did some digging and here’s what i found (and you’ll have to excuse me since i don’t use SDG often):
the offline_generation.py from the Isaac Sim’s installation directory shows the assets with the asset path as the following for me:
"forklift": {
"url": "/Isaac/Props/Forklift/forklift.usd",
"class": "Forklift",
},
"cone": {
"url": "/Isaac/Environments/Simple_Warehouse/Props/S_TrafficCone.usd",
"class": "TrafficCone",
},
"pallet": {
"url": "/Isaac/Environments/Simple_Warehouse/Props/SM_PaletteA_01.usd",
"class": "Pallet",
},
"cardbox": {
"url": "/Isaac/Environments/Simple_Warehouse/Props/SM_CardBoxD_04.usd",
"class": "Cardbox",
},
if you are seeing the same, those assets can be found in localhost directories (under respective Isaac versions you have installed):
omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Environments/Simple_Warehouse/Props
these assets appears to be Isaac Sim specific (the same as the ones found in the asset packs) and are in a different directory than NVIDIA Assets, which is a more comprehensive list of assets found in overall OV platform.
the source file to these Isaac Sim specific assets were also set up differently including unit and material setup. the unit is primarily why you noticed the scaling issue. if i were to speculate, Isaac Sim assets were created earlier in the dev cycle to be shipped with the initial releases and the SimReady assets turned into an endeavor in which they started building onto and bolster the asset variety for Isaac Sim users with content releases overtime (the most recent update was back in summer of this year where they at least doubled the total asset count).
so what’s the difference between the two? for one, all of these Isaac Sim specific assets from the props folder were made using meter as default unit of measurement in their USD stage (indicated by the Meters Per Unit setting of 1.0):
second, notice the material on this asset and how it looks in viewport (the wood planks and the sides):
now, comparing it to the asset found in the NVIDIA assets catelog, the USD assets were mostly done in cm hence the scale difference you were seeing, indicated by the Meters Per Unit setting of 0.01:
visually speaking, the wood textures look more realistic and doesn’t have the darkening on the sides of the pallet.
since these assets were done at different times and, perhaps, for different purpose, the naming convention is different.
based on the above differences and notes, there seem to be a few things you could consider doing:
-
use the asset from Isaac Sim folder - you are limited in terms of asset variety; but you also don’t have to do any scaling to make everything consistent. the entire list of assets and names can be found be found in the props folder:
-
use the asset from SimReady library - you have access to greater amount of assets, but will need to adjust the scale of assets either programmatically or via viewport manipulator. you may also need to adjust code snippets found in the doc since you are sourcing from a different location.
-
use a combination of assets from both places - probably not the ideal scenario since you will have to keep track of asset naming convention, materials, etc. which may not be consistent with SDG snippets from the doc.
