Isaac Sim backend
维护者通常 1 天内回复
还没有人认领这个 Issue。
评估
调研方向
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.
由索引模型根据 Issue 内容生成。
描述
Part of #886. For @alexermolovich — please comment here so you can be assigned.
Scope (milestone 1)
backend="isaacsim"starts Isaac Sim viaSimulationApp, with a basic scene (camera, lighting)add(robot)for URDF-backed robots, converted to USD with Isaac's URDF importeradd()returns a handle that owns its ownq, so several instances of one model work- Desktop only, Isaac Sim 6.2, optional
isaacsimextra with a lazy import;import roboticstoolboxmust 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)
- 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? - 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 withregister_backend("isaacsim", ...). - Expanded URDF. Keeping the expanded XML (Xacro args, patches) changes RTB's URDF loading. Please do that as a separate, small PR first.
- Python versions. Isaac Sim targets 3.12, while RTB supports 3.10–3.14. The extra should install only where Isaac Sim does.
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
Gripperdetails (#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
- 主要语言
- C++
- 星标
- 3.6k
- 派生
- 645
- 平均合并
- 1 天 8 小时
- 30 天内合并 PR
- 145
环境准备
- 没有 Dockerfile 或 Docker Compose 文件
- 有 Pull Request 模板
- 阅读贡献指南
从这里开始
- 先读完整个 Issue，再读项目的贡献指南。
- 在 Issue 下留言说明你要接手 —— 这能避免两个人做同样的事。
- Fork 仓库，在一个分支上完成修改。
- 提交 Pull Request，并在描述里引用这个 Issue 编号。
petercorke/robotics-toolbox-python 的其他 Issue
-
plt.pause(0) waits for ever: PoseGraph.plot_scan(pause=0) and Vehicle animation may hang可能已有人在做 @huxiaoyi-ovo 今天认领。 未关闭bug
难度 2/5 1-3 小时 新手友好度 72/100
petercorke/robotics-toolbox-python#876 · 1 条评论 · 已指派 1 人 ·
维护者通常 1 天内回复
-
难度 2/5 1-3 小时 新手友好度 68/100
petercorke/robotics-toolbox-python#709 ·
维护者通常 1 天内回复
-
Backend registry: single name → constructor dispatch可能已有人在做 @petercorke 今天认领。 未关闭enhancement
petercorke/robotics-toolbox-python#902 · 已指派 1 人 ·
维护者通常 1 天内回复
-
tech-debt
难度 4/5 1-2 天 新手友好度 55/100
petercorke/robotics-toolbox-python#898 ·
维护者通常 1 天内回复
-
LatticePlanner: integer headings, and motion primitives with finer turn steps (design first)可能已有人在做 @kVinsom 于 2 天前认领。 未关闭enhancement help wanted
难度 5/5 一周以上 新手友好度 25/100
petercorke/robotics-toolbox-python#895 · 2 条评论 ·
维护者通常 1 天内回复
查看 petercorke/robotics-toolbox-python 的全部 Issue
相似的 Issue
-
bug IO
难度 2/5 1-3 小时 新手友好度 65/100
MrNeRF/LichtFeld-Studio#3824 ·
维护者通常 1 天内回复
-
难度 1/5 1 小时以内 新手友好度 88/100
-
bug code-review testing tooling
难度 2/5 1-3 小时 新手友好度 72/100
维护者通常 1 天内回复
-
bug
难度 2/5 1-3 小时 新手友好度 76/100
aristocratos/btop#1945 ·
维护者通常 2 天内回复
-
难度 2/5 1-3 小时 新手友好度 79/100
boykopovar/AnyPS5#11291 ·
维护者通常 1 天内回复