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unisim.backend.isaacsim.scene_worker¶

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

Asset parsing, USD edits and native-name discovery are cold-path operations. Runtime operations use frozen entity/view maps, never actor creation order.

Functions

validate_scene_payload(protocol, payload)

Reject unsupported combinations before launching Kit or converting assets.

Classes

SceneWorkerContext

One independent native asset view per declared entity.

unisim.backend.isaacsim.scene_worker.validate_scene_payload(protocol, payload)[source]¶

Reject unsupported combinations before launching Kit or converting assets.

Parameters:

protocol (Any)
payload (dict[str, Any])

Return type:

Any

class unisim.backend.isaacsim.scene_worker.SceneWorkerContext[source]¶

Bases: object

One independent native asset view per declared entity.

Parameters:

protocol (Any)
renderer (Any)

__init__(protocol, renderer)[source]¶

Parameters:

protocol (Any)
renderer (Any)

init_sim(payload)[source]¶

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

adopt_initialized_context(renderer, metadata, payload)[source]¶

Project the model-file wire onto this runtime after its existing cold importer.

This adopts live views and the already initialized Kit context. The synthetic execution layout preserves the historical D-wide control surface; it is never published as a new physical entity capability.

Parameters:

renderer (Any)
metadata (dict[str, Any])
payload (dict[str, Any])

Return type:

None

attach_slots(payload)[source]¶

Parameters:: payload (dict[str, Any])
Return type:: None

attach_cuda_ipc(payload)[source]¶

Import the host-owned canonical CUDA arena on a cold boundary.

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

refresh_state_slots()[source]¶

Return type:: None

reset_cuda_ipc(payload)[source]¶

Apply a selected canonical CUDA reset and republish device state.

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

step_cuda_ipc(payload)[source]¶

Run the minimal qpos/qvel/control path with CUDA IPC bulk data.

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

set_state(payload)[source]¶

Translate only the model-file wire; native reset always uses reset_entities.

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

step(payload)[source]¶

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

reset_entities(payload)[source]¶

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

get_meta()[source]¶

Return type:: dict[str, Any]

shutdown()[source]¶

Return type:: None

bind_renderer(payload)[source]¶

Parameters:: payload (dict[str, Any])
Return type:: dict[str, Any]

render_frame()[source]¶

Return type:: dict[str, Any]

capture_frame()[source]¶

Return type:: dict[str, Any]