Extracting a Petalinux BSP
A Petalinux BSP is simply a gzipped tar file that contains a preconfigured Petalinux project. A BSP may (and the Xilinx BSPs do) also contain precompiled copies of build outputs that you would get from running petalinux-build in that project.
$ tar -xzf xilinx-zcu102-2021.2-final.bsp
$ ls
xilinx-zcu102-2021.2
$ cd xilinx-zcu102-2021.2
$ ls
components config.project hardware pre-built project-spec README README.hw
$ ls pre-built/linux/images
bl31.bin BOOT.BIN system.dtb u-boot.elf system.bit zynqmp_fsbl.elf ... etc.