Assets Management#

Note

Internal NVIDIA use only. This page documents workflows and infrastructure (Storage API, staging/production S3 buckets, internal ticketing) that are only accessible to NVIDIA employees.

Note

These steps are only required if you are adding your own assets to Isaac Lab Arena’s production S3 buckets. Assets and files that are used by Isaac Lab Arena by default are publicly available without additional authentication.

Isaac Lab Arena consumes assets from publicly available S3 buckets and LightWheel SDK registry. Isaac Lab Arena uses the following constants to access those assets:

  • ISAAC_NUCLEUS_DIR: The directory of Isaac Sim’s assets on the production S3 bucket, containing assets that are compliant with legal requirements.

  • ISAACLAB_NUCLEUS_DIR: The directory of Isaac Lab & Isaac Lab Arena’s assets on the production S3 bucket, containing assets that are compliant with legal requirements.

  • ARENA_STAGING_STORAGE_DIR: The directory of Isaac Lab Arena’s internal development assets in Storage API (ovstorage://isaac/Isaac/IsaacLab). Access to this directory is restricted to NVIDIA employees. Those assets have not yet been reviewed by the legal team – use in production at your own risk. Prior to each major release, the staging assets will be uploaded to the production bucket after being cleared by the legal team.

Note

In Isaac Lab 3.0-alpha, ISAACLAB_NUCLEUS_DIR currently points to the staging S3 bucket rather than the production bucket. See the Isaac Lab staging-bucket configuration.

Adding assets#

Before uploading, authenticate with the Storage API by following Storage API Access.

For immediate access to new uploads, use ARENA_STAGING_STORAGE_DIR from isaaclab_arena.assets.nucleus. It points to the internal Storage API location ovstorage://isaac/Isaac/IsaacLab and requires internal access. Append /Arena/assets/... to build an asset path. ARENA_NUCLEUS_DIR uses the public S3 mirror, where uploads become available after synchronization.

To add your own assets to Isaac Lab Arena’s staging S3 bucket, you can follow the following steps:

  1. Open Storage Navigator and upload your assets to the Storage API. Depending on the type of your assets, you can upload them to the following directories:

    • Backgrounds: /Isaac/IsaacLab/Arena/assets/background_library

    • Objects: /Isaac/IsaacLab/Arena/assets/object_library

    • Embodiments: /Isaac/IsaacLab/Arena/assets/robot_library

    • Policies: /Isaac/IsaacLab/Arena/${NAME_OF_THE_POLICY}

    Prefix assets with their source (e.g., scarif_tower_01.usd), upload to /Isaac/IsaacLab/Arena/assets/object_library, and include a valid license file in the target folder. If you lack Storage API write access, contact the isaaclab-arena team to facilitate the asset and license upload.

  2. Update the USD path configurations to use the new assets as they are stored in ARENA_STAGING_STORAGE_DIR/Arena/assets. For example, if you want to use a new object, you can register the object in isaaclab_arena/assets/object_library.py as a derived class of LibraryObject, and add the USD path as its class attribute.

  3. Request synchronization to the staging S3 bucket on ISIM-5288.

  4. Run Isaac Lab Arena to verify that the assets are loaded correctly.

Syncing assets from OV Nucleus to S3 production#

Note

Syncing assets from the OV Nucleus Server to the production S3 bucket requires filing a ticket: https://jirasw.nvidia.com/browse/ISIM-5288