srb isaac — Isaac Sim Utilities & Python REPL

The srb isaac (alias srb isaacsim) subcommand groups thin wrappers around the Isaac Sim launcher and Python interpreter shipped with Isaac Sim. There is no standalone srb repl subcommand — interactive Python sessions are exposed in two complementary ways:

1. Standalone — open the Isaac Sim Python interpreter via srb isaac python (no Isaac Sim app, no scene). Useful for scripting, exploration, and ad-hoc experimentation.
2. In-flight — pass --repl to any simulation-based agent subcommand (zero, rand, teleop, ros, train, eval, collect) to attach an interactive REPL alongside a running simulation in a background thread.

Usage

srb isaac sim         # Launch the Isaac Sim GUI application
srb isaac python      # Run the Isaac Sim Python interpreter

Put -- after the sub-subcommand to end SRB option parsing; following tokens are forwarded verbatim to the underlying executable. For example:

srb isaac python -- -m pip list
srb isaac sim -- --no-window
srb isaac sim -- --/app/window/title="My SRB Session"

srb isaac sim validates that the resolved launcher is a regular executable before starting a process. If Isaac Sim is unavailable, set ISAACSIM_PATH to the installation containing isaac-sim.sh, or put the isaacsim launcher on PATH; missing, non-file, and non-executable paths are reported as typed CLI errors.

Aliases

srb isaacsim (with no further argument) is an alias for srb isaac sim, allowing you to drop directly into the GUI with a single command.

Examples

Open the Isaac Sim Python interpreter and start scripting:

srb isaac python

from srb.core.app import AppLauncher

app = AppLauncher(headless=True).app

import torch
from srb.tasks.manipulation.sample_collection import Task, TaskCfg

env_cfg = TaskCfg(num_envs=4)
env = Task(env_cfg)
env.reset()

for _ in range(50):
    env.step(action=torch.tensor(env.action_space.sample(), device=env.device))

env.close()
app.close()

Open an Isaac Sim GUI session (forwarded args go straight to Kit):

srb isaac sim -- --/app/window/title="My SRB Session"

In-Flight REPL with --repl

When debugging or iterating on a live agent, attach a Python REPL to any running simulation via --repl:

srb agent zero --env sample_collection --repl ptpython
srb agent train --algo sbx_ppo --env landing --headless --repl

The REPL runs in a background thread with the simulator namespace pre-loaded (env, sim_app, helpers like mute() / unmute() to silence the simulator stdout). Supported backends are ptpython (default) and bpython. The flag can also be enabled implicitly via the SRB_REPL environment variable: ptpython, 1 or true (case-insensitive) select ptpython, bpython selects bpython, and any other value leaves the REPL off. An explicit --repl takes precedence.

Note: --repl is not available for the offline srb agent learn subcommand because it does not launch Isaac Sim.

See Also

• srb agent — agent subcommands that accept --repl
• srb gui — native Rust GUI for SRB