isaac-sim-rs

Unofficial Rust SDK for NVIDIA Isaac Sim & Omniverse. Bridges Isaac Sim's C++ Carbonite plugin surface into safe Rust callbacks, with transport-agnostic consumer adapters — your data goes to dora-rs, rerun, a file logger, or any custom bus you wire up, without a Python or ROS hop in the hot path.

Adapter selection happens at cargo add time via feature flags. The default feature (arrow) is pure Rust and compiles on any machine without Isaac Sim installed.

Feature matrix

Feature	Pulls in	Requires Isaac Sim at link time
`arrow`	pure-Rust Arrow schema + decoders (default)	No
`bridge`	bridge rlib + Arrow	No (rlib only)
`dora`	bridge + dora publisher + subscriber decoders	No (rlib only)
`rerun`	bridge + rerun Viewer builder	No (rlib only)
`full`	bridge + dora + rerun	No (rlib only)

The C++ extension build passes --features isaac-sim-bridge/cdylib separately to produce the .so the Kit extension dlopens.

Usage

# schema + decoders only (no Isaac Sim required)
cargo add isaac-sim-rs

# dora subscriber decoders
cargo add isaac-sim-rs -F dora

# rerun viewer adapter
cargo add isaac-sim-rs -F rerun

# both adapters in one build
cargo add isaac-sim-rs -F full

// default features: Arrow schema + decoders, pure Rust
use isaac_sim_rs::arrow::lidar::flatscan::{LidarFlatScan, to_record_batch};

let depths = [0.5_f32, 1.0, 1.5, 2.0];
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)?;
assert_eq!(batch.num_rows(), 1);
# Ok::<(), arrow::error::ArrowError>(())

See the workspace README for the full architecture, examples, and source-build instructions.

Compatibility

Dependency	Version
Isaac Sim	5.1
Apache Arrow	54
dora-node-api	0.5 (when `dora` feature enabled)
rerun	0.31 (when `rerun` feature enabled)
Rust	1.85+

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