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Isaac Sim backend

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#903 コメント 1 件 リアクション 0 件 担当者 0 名 GitHub で見る

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まだ誰も着手していません。

評価

難易度
5/5
見積もり時間
1週間以上
初心者へのやさしさ
25/100
issue の種類
機能追加
明瞭さ
おおむね明確
活発さ
活発
技術スタック
python
領域
backend, robotics

調査の方向性

Start with the backend protocol changes in #676 and the backend registry work in #902, then read the URDF loading path and Isaac Sim 6.2's SimulationApp and URDF importer documentation. The issue defines the first milestone around a desktop scene, URDF-backed robots, per-instance joint state, and a screencast; testing strategy, Python version support, restart behavior, and expanded URDF handling still need decisions. The linked prerequisite and request for a named contributor make this a poor first issue.

索引モデルが issue の本文から書いたものです。

説明

enhancement

Part of #886. For @alexermolovich — please comment here so you can be assigned.

Scope (milestone 1)

  • backend="isaacsim" starts Isaac Sim via SimulationApp, with a basic scene (camera, lighting)
  • add(robot) for URDF-backed robots, converted to USD with Isaac's URDF importer
  • add() returns a handle that owns its own q, so several instances of one model work
  • Desktop only, Isaac Sim 6.2, optional isaacsim extra with a lazy import; import roboticstoolbox must still work without it

Target

A URDF Panda from robot_descriptions:

panda.plot(panda.qr, backend="isaacsim")
traj = rtb.jtraj(panda.qz, panda.qr, 50)
panda.plot(traj.q, backend="isaacsim", dt=0.05)

A screencast in Discussions → Show & Tell.

Out of scope for now

Notebooks, teach, ellipsoids, ETS/DH robots, physics-driven step.

Open questions (to settle before the PR is reviewed)

  1. Testing. Isaac Sim needs a GPU and isn't open licensed, so it can't run in CI. What's testable without it (mocked SimulationApp, joint-mapping logic), and what's the manual checklist for the rest?
  2. Dispatch. Blocked by #902 (backend registry). Register the backend there as isaacsim. Once #902 is merged, you can also develop and test outside the RTB tree with register_backend("isaacsim", ...).
  3. Expanded URDF. Keeping the expanded XML (Xacro args, patches) changes RTB's URDF loading. Please do that as a separate, small PR first.
  4. Python versions. Isaac Sim targets 3.12, while RTB supports 3.10–3.14. The extra should install only where Isaac Sim does.
  5. restart(). If Isaac Sim can't restart in-process, raise a clear error and say so in the docs, rather than half-supporting it.

Process

  • One backend per PR. Open a draft PR early.
  • Follow #676 (protocol changes) and avoid relying on Gripper details (#884).
  • Say in the PR if an AI assistant helped (AGENTS.md).
  • If there's been no activity for about four weeks, the backend goes back to "available" in #886.

Generated by Claude Code

主要言語
C++
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