Isaac Sim¶

This page explains how to run the RB-Y1 Isaac Sim environment and connect it to rby1-sdk over UDP.

Related repository: RBY1 Isaac Sim on GitHub

Requirements¶

NVIDIA GPU + driver
Docker
nvidia-container-toolkit

Quick start¶

1. Clone the repository¶

git clone https://github.com/RainbowRobotics/rby1-sim-isaac.git
cd rby1-sim-isaac

2. Run¶

Script	Robot control	Robot UDP bridge	`app_main isaac`
`docker/run.sh`	Built-in standalone PD trajectory	Disabled by default	Not started
`docker/run_sdk.sh`	rby1-sdk / rby1 core commands	Enabled via `--udp`	Started automatically

rby1-sdk UDP integration mode¶

Connects rby1-sdk with the Isaac Sim container to enable robot control via rby1 core.

./docker/run_sdk.sh --image 0.10.7-a_v1.2   # Model A v1.2
./docker/run_sdk.sh --image 0.10.7-m_v1.2   # Model M v1.2

Standalone mode¶

Runs Isaac Sim only. The robot is controlled by the built-in PD trajectory in RBY1Task; no app_main process is started and the robot command/state UDP bridge is disabled.

./docker/run.sh --image 0.10.7-a_v1.2   # Model A v1.2
./docker/run.sh --image 0.10.7-m_v1.2   # Model M v1.2

Supported images¶

The following images are currently supported. Each image automatically loads the USD asset matching its model (via the ROBOT_MODEL_NAME env var), so no extra flag is required.

Tag	Model
`0.10.7-a_v1.2`	Model A v1.2
`0.10.7-m_v1.2`	Model M v1.2

Docker image tag convention¶

rainbowroboticsofficial/rby1-sim-isaac:<version>-<model>_v<model_version>

rainbowroboticsofficial/rby1-sim-isaac:0.10.7-a_v1.2   # Model A v1.2
rainbowroboticsofficial/rby1-sim-isaac:0.10.7-m_v1.3   # Model M v1.3

UDP ports¶

Since --network=host is used, the host and container share the same network namespace. Ports 5005/5006 are used by rby1-sdk integration mode; ports 5007/5008 are used by the sim gripper bridge.

Port	Direction	Description
`5005/udp`	Isaac Sim → rby1-sdk	RobotState (`ControlState`)
`5006/udp`	rby1-sdk → Isaac Sim	RobotCommand (`ControlInput`)
`5007/udp`	User code → Isaac Sim	Gripper command
`5008/udp`	Isaac Sim → User code	Gripper state

Gripper example¶

When Isaac Sim is running (with --sim-gripper enabled by default), you can directly control the gripper from the host.

cd examples
pip install numpy          # dependency

# In IsaacSim
python3 gripper_example.py --sim

# Real robot
python3 gripper_example.py

The SimDynamixelBus class in sim_gripper_bridge.py provides the same interface as rby1_sdk.DynamixelBus. By changing just one line (--sim), you can control both the real robot and simulation with the same code.

License¶

Source files containing the NVIDIA SPDX header are licensed under Apache-2.0.