SceneBlox - Confusion about asset path specification

[jchunx]

Hi, I am trying to figure out how to use SceneBlox for my custom application, and I am not sure how to specify usd paths in the yaml files.

The labyrinth tutorial generation.yaml looks like this:

tile_size: 5.0
fixed_prims:
  - prim_path: /Environment/Sky
    usd: /NVIDIA/Assets/Skies/Dynamic/CumulusHeavy.usd
    semantic: sky
    world_pose:
      position: [0, 0, 0]
      orientation: [90, 0, 0]
cross:
  usd: /Isaac/Samples/Scene_Blox/Tutorial/cross.usd
  generation:
    - config: hazards_corridors.yaml
corridor:
  usd: /Isaac/Samples/Scene_Blox/Tutorial/corridor.usd
  generation:
    - config: hazards_corridors.yaml
corner:
  usd: /Isaac/Samples/Scene_Blox/Tutorial/corner.usd
  generation:
    - config: ["None", "obstacle_pile_2.yaml"]
      weights: [0.7, 0.3]
dead_end:
  usd: /Isaac/Samples/Scene_Blox/Tutorial/dead_end.usd
  generation:
    - config: ["obstacle_pile_1.yaml", "obstacle_pile_2.yaml"]
      weights: [0.5, 0.5]

It looks like all of the usd paths are relative to omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/, but what if I want to specify a path relative to my local project folder? I would like to have assets stored in a repo folder for sake of portability and reproducibility. Thanks!

[ahaidu]

Hi there,

the script uses nucleus to access the usd files (from omni.isaac.core.utils.nucleus import get_assets_root_path).

For example in scene_generator.py line 131: get_assets_root_path() + config["usd"].

If you would like to have files stored locally you can modify those parts of the script.

Best,
Andrei