isaac-sim-arrow

Pure-Rust Apache Arrow schema and decoders for every sensor and actuator channel exposed by the Isaac Sim bridge. Takes raw buffers from the cxx::bridge layer and produces RecordBatch values that any downstream — dora-rs node, rerun viewer, file logger, or custom bus — can consume without depending on Isaac Sim or a C++ toolchain.

Usage

[dependencies]
isaac-sim-arrow = "0.1"

use isaac_sim_arrow::lidar::flatscan::{LidarFlatScan, to_record_batch, from_struct_array};
use arrow::array::StructArray;

let depths = [0.5_f32, 1.2, 2.7, 3.0];
let intensities = [10_u8, 50, 200, 100];

let scan = LidarFlatScan {
    depths: &depths,
    intensities: &intensities,
    horizontal_fov: 270.0,
    horizontal_resolution: 0.25,
    azimuth_min: -135.0,
    azimuth_max: 135.0,
    depth_min: 0.1,
    depth_max: 30.0,
    num_rows: 1,
    num_cols: 4,
    rotation_rate: 10.0,
};

let batch = to_record_batch(&scan)?;
// round-trip back to native struct
let owned = from_struct_array(&StructArray::from(batch))?;
assert_eq!(owned.depths, depths);
# Ok::<(), arrow::error::ArrowError>(())

Part of the isaac-sim-rs SDK. The facade crate re-exports this as the arrow namespace when the arrow feature is enabled (the default).

Compatibility

arrow is a public-surface dep: every public function returns or accepts an arrow::array::* or arrow::record_batch::RecordBatch. Pin the same arrow major as this crate.

Apache Arrow 54 is workspace-pinned to match the version dora-node-api 0.5 requires. Consumers must use the same Arrow major to share RecordBatch values across crate boundaries without copy.

License notice for re-publishers

MPL-2.0 is per-file copyleft. If you bundle this crate's binary into your own crate or extension, retain the SPDX header on every source file you include. The full license text is in LICENSE at the repo root.

License

MPL-2.0 (see LICENSE).