Download the zip file from Xilinx.com, for the specific board variant.
It has the following contents:
Pre-built SD card image
Artifacts from hardware and software builds under reference_images/
README file
The zip contents for vck190-prod are as follow
vssr-trd-pb-vck190-prod-2023.1.zip
│
vssr-trd-vck190-prod
├── LICENSE
├── prebuilt
│ ├── petalinux-sdimage.wic.xz
│ └── reference_images/
│ ├── bl31.elf
│ ├── boot.bif
│ ├── BOOT.BIN
│ ├── boot.scr
│ ├── Image
│ ├── plm.elf
│ ├── psmfw.elf
│ ├── ramdisk.cpio.gz.u-boot
│ ├── rootfs.tar.gz
│ ├── rpu_app.elf
│ ├── system.dtb
│ ├── u-boot.elf
│ ├── versal_restart_trd_wrapper.pdi
│ └── versal_restart_trd_wrapper.xsa
└── README
Same file structure is available for other variants (vmk180-prod) as well.