unisim.backend.isaacsim

IsaacSim/IsaacLab subprocess backend.

The package is intentionally lazy: importing UniLab does not import Kit or probe the external Python 3.11 runtime. Runtime discovery happens when the backend is materialized (or explicitly through dependencies).

Modules

backend

Host-side IsaacSim/IsaacLab subprocess backend.

dependencies

Runtime discovery for the external IsaacSim 5.1 / IsaacLab worker.

physx_solver

Bounded PhysX solver configuration shared by the IsaacSim host and worker.

raw_usd_cache

Content-addressed cold-path cache for IsaacSim raw MJCF-to-USD artifacts.

scene_worker

Mapped IsaacLab scene execution, loaded by path in the external SDK worker.

tensor_ipc

IsaacSim-owned CUDA IPC tensor arena and stream protocol.

worker

IsaacSim/IsaacLab Python 3.11 worker for the UniLab subprocess backend.