Implementation:Haosulab ManiSkill DownloadAsset

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Asset Management
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool for downloading, verifying, and extracting ManiSkill assets from remote sources via CLI or programmatic API.

Description

The download_asset.py module provides both a command-line interface and Python API for downloading assets required by ManiSkill environments. It supports multiple download sources and handles the full download lifecycle.

Core functions:

• download() -- Downloads a single DataSource. Handles directory creation, existing file cleanup, URL download with progress bars, SHA-256 checksum verification, ZIP extraction with directory renaming, and HuggingFace dataset downloads.
• download_from_hf_datasets() -- Specialized download using huggingface_hub.snapshot_download() for HF-hosted datasets.
• sha256sum() -- Computes SHA-256 checksum of a file for verification.

CLI interface:

• python -m mani_skill.utils.download_asset [uid]
• Supports downloading by asset UID, data group ID, or "all".
• -l/--list -- List available assets by category (scene, robot, task_assets, objects).
• -y/--non-interactive -- Skip confirmation prompts.
• -o/--output-dir -- Custom output directory.
• --quiet -- Disable verbose output.
• Environment variable MS_SKIP_ASSET_DOWNLOAD_PROMPT=1 auto-accepts prompts.

Data group expansion: When a data group ID is given (e.g., an environment ID), it is expanded into individual data sources using expand_data_group_into_individual_data_source_ids().

Usage

Used to download assets before running environments that require external data (models, scenes, task configurations). Can be used from the command line or called programmatically.

Code Reference

Source Location

• Repository: Haosulab_ManiSkill
• File: mani_skill/utils/download_asset.py

Signature

def download(data_source: DataSource, verbose=True, non_interactive=True) -> Path: ...
def download_from_hf_datasets(data_source: DataSource) -> None: ...
def sha256sum(filename, chunk_size=4096) -> str: ...
def main(args) -> None: ...
def parse_args(args=None) -> argparse.Namespace: ...

Import

from mani_skill.utils.download_asset import download

I/O Contract

Inputs

Name	Type	Required	Description
data_source	DataSource	Yes	Data source definition with URL, target path, etc.
verbose	bool	No	Show progress output (default: True)
non_interactive	bool	No	Skip confirmation prompts (default: True)

Outputs

Name	Type	Description
output_path	Path	Local path where asset was downloaded/extracted

Usage Examples

Basic Usage

# CLI usage
# python -m mani_skill.utils.download_asset ycb
# python -m mani_skill.utils.download_asset all -y

# Programmatic usage
from mani_skill.utils.assets.data import DATA_SOURCES
from mani_skill.utils.download_asset import download

output = download(DATA_SOURCES["ycb"])
print(f"Assets downloaded to: {output}")

Related Pages

• Environment:Haosulab_ManiSkill_Python_SAPIEN_Core
• Haosulab_ManiSkill_AssetData